diff --git a/.gitattributes b/.gitattributes index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..d1997ba1ae842e0f5814378ee6db3ded3713bc3e 100644 --- a/.gitattributes +++ b/.gitattributes @@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text # Video files - compressed *.mp4 filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text +info/consolidated_datasets.json filter=lfs diff=lfs merge=lfs -text diff --git a/dataset_info/AI2_Alphabot_2_carry_the_clothes_basket.yaml b/dataset_info/AI2_Alphabot_2_carry_the_clothes_basket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2a2e27db2debce32d0c5cd4af4987cde5ad28262 --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_carry_the_clothes_basket.yaml @@ -0,0 +1,506 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: AI2_Alphabot_2_carry_the_clothes_basket +dataset_uuid: 0df48917-c10a-469f-8f74-d57f284c09cd +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: clothes_basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Carry the clothes basket with both grippers. +sub_tasks: +- subtask: Move the basket above the other table. + subtask_index: 0 +- subtask: Grasp the basket with both grippers. + subtask_index: 1 +- subtask: Grasp the basket with left gripper. + subtask_index: 2 +- subtask: Grasp the basket with right gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Place the basket on the table with right gripper. + subtask_index: 5 +- subtask: Place the basket on the table with both grippers. + subtask_index: 6 +- subtask: Place the basket on the table with left gripper. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- place +- pick +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_chest_rgb +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 46527 + fps: 30 + total_tasks: 9 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 4 + dataset_size: 2.48 GB +frame_num: 46527 +frame_range: 100K +dataset_size: 2.48 GB +data_structure: 'alpha_bot_2_carry_the_clothes_basket_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_chest_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_item_reversal.yaml b/dataset_info/AI2_Alphabot_2_item_reversal.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f196d79c94341fcf5d57a5de3bad52fe5b1fc134 --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_item_reversal.yaml @@ -0,0 +1,499 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: AI2_Alphabot_2_item_reversal +dataset_uuid: aac569d8-dbc7-4128-a573-659adbe0ed51 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cup with your left gripper and hand it to your right gripper. Rotate + it over with the right gripper. +sub_tasks: +- subtask: Grasp the cup with left gripper. + subtask_index: 0 +- subtask: Place the cup on the table with right gripper. + subtask_index: 1 +- subtask: Pass the cup to the right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- place +- pick +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_chest_rgb +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 90 + total_frames: 82235 + fps: 30 + total_tasks: 5 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 4 + dataset_size: 2.12 GB +frame_num: 82235 +frame_range: 100K +dataset_size: 2.12 GB +data_structure: 'alpha_bot_2_item_reversal_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (78 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_chest_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:89 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_move_the_table.yaml b/dataset_info/AI2_Alphabot_2_move_the_table.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d0dd70d426f59fe1adc8b26999d8df5f460ed5ca --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_move_the_table.yaml @@ -0,0 +1,495 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: AI2_Alphabot_2_move_the_table +dataset_uuid: 09e62222-abf5-4a90-a95b-91d15d99af82 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the collaborative table with the human and the machine. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Move the table forward with both grippers. + subtask_index: 1 +- subtask: Grasp the table with both grippers. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- place +- pick +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_chest_rgb +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 72 + total_frames: 50897 + fps: 30 + total_tasks: 4 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 4 + dataset_size: 1.37 GB +frame_num: 50897 +frame_range: 100K +dataset_size: 1.37 GB +data_structure: 'alpha_bot_2_move_the_table_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (60 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_chest_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:71 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_operate_the_microwave_oven.yaml b/dataset_info/AI2_Alphabot_2_operate_the_microwave_oven.yaml new file mode 100644 index 0000000000000000000000000000000000000000..827d007c765192ec6493272040c72f9a16378641 --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_operate_the_microwave_oven.yaml @@ -0,0 +1,501 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: AI2_Alphabot_2_operate_the_microwave_oven +dataset_uuid: 6223c1d1-5efd-480c-8aa8-e1d4f14069f2 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: microwave_oven +- object_name: table +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the temperature of the microwave oven with the gripper and rotate it on. Open + the door of the microwave oven with the gripper and then close it with the gripper. +sub_tasks: +- subtask: Press the time button with right gripper. + subtask_index: 0 +- subtask: Press the start button with right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Press the swap with right gripper. + subtask_index: 3 +- subtask: Close the microwave door with left gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- pull +- push +- rotate +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_chest_rgb +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 16 + total_frames: 16486 + fps: 30 + total_tasks: 6 + total_videos: 64 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 4 + dataset_size: 395.73 MB +frame_num: 16486 +frame_range: 100K +dataset_size: 395.73 MB +data_structure: 'alpha_bot_2_operate_the_microwave_oven_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (4 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_chest_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:15 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_pass_the_sandbag.yaml b/dataset_info/AI2_Alphabot_2_pass_the_sandbag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cd72636b69e7d22a6e0477e3810b4f5b7b722447 --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_pass_the_sandbag.yaml @@ -0,0 +1,499 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: AI2_Alphabot_2_pass_the_sandbag +dataset_uuid: 81e68aa6-8f11-4edf-9c00-cc322e4fc0c9 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: sandbag +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the sandbag from the left gripper with the right gripper and place it on + the table. +sub_tasks: +- subtask: Pass the paper ball to the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the paper ball on the table with right gripper. + subtask_index: 2 +- subtask: Grasp the paper ball with left gripper. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- place +- pick +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_chest_rgb +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 86 + total_frames: 69956 + fps: 30 + total_tasks: 5 + total_videos: 344 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 4 + dataset_size: 1.98 GB +frame_num: 69956 +frame_range: 100K +dataset_size: 1.98 GB +data_structure: 'alpha_bot_2_pass_the_sandbag_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (74 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_chest_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:85 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_press_the_button_a.yaml b/dataset_info/AI2_Alphabot_2_press_the_button_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..089301c7549b25cd45f41048c52b4ad8a9c31ae0 --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_press_the_button_a.yaml @@ -0,0 +1,494 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: AI2_Alphabot_2_press_the_button_a +dataset_uuid: f687e0d9-d736-45a4-89f6-ef7ff90a103a +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: water_bottle +- object_name: button +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Avoid the water bottle on the table with the gripper; press the button with the + gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Press the button blocked by the bottle with right gripper. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- press +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_chest_rgb +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 116 + total_frames: 91452 + fps: 30 + total_tasks: 3 + total_videos: 464 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 4 + dataset_size: 1.90 GB +frame_num: 91452 +frame_range: 100K +dataset_size: 1.90 GB +data_structure: 'alpha_bot_2_press_the_button_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (104 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_chest_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:115 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_press_the_button_b.yaml b/dataset_info/AI2_Alphabot_2_press_the_button_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ae5522c6a884d5384035b967051f8d0a5e4f4bc5 --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_press_the_button_b.yaml @@ -0,0 +1,508 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: AI2_Alphabot_2_press_the_button_b +dataset_uuid: 627d6f91-a0ba-46b7-96dd-616242c3a6af +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: mineral_water +- object_name: button +- object_name: table +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Remove the water bottle from the table with the gripper. Press the button with the + gripper. +sub_tasks: +- subtask: Touch the bottle with left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Move the bottle away with right gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: Press the button with right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- press +- push +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_chest_rgb +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 34 + total_frames: 26258 + fps: 30 + total_tasks: 6 + total_videos: 136 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 4 + dataset_size: 482.17 MB +frame_num: 26258 +frame_range: 100K +dataset_size: 482.17 MB +data_structure: 'alpha_bot_2_press_the_button_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (22 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_chest_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:33 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_recover_after_touching_an_obstacle.yaml b/dataset_info/AI2_Alphabot_2_recover_after_touching_an_obstacle.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a8d53bb1186cb7582d77ca276e49d4902143c668 --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_recover_after_touching_an_obstacle.yaml @@ -0,0 +1,497 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: AI2_Alphabot_2_recover_after_touching_an_obstacle +dataset_uuid: aebc9a40-0a90-4fc3-a705-fbc5c7d23392 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: mineral_water +- object_name: button +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Return to a safe position after touching an obstacle with your arm on the white + table with the gripper. +sub_tasks: +- subtask: Touch the bottle with left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Touch the bottle with right gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- pick +- grasp +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_chest_rgb +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 130 + total_frames: 128391 + fps: 30 + total_tasks: 4 + total_videos: 520 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 4 + dataset_size: 3.70 GB +frame_num: 128391 +frame_range: 1M +dataset_size: 3.70 GB +data_structure: 'alpha_bot_2_recover_after_touching_an_obstacle_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (118 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_chest_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:129 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_stack_building_blocks.yaml b/dataset_info/AI2_Alphabot_2_stack_building_blocks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7bfcc638b5fec288b1ea6e2be7067b61f5667378 --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_stack_building_blocks.yaml @@ -0,0 +1,522 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: AI2_Alphabot_2_stack_building_blocks +dataset_uuid: f7781909-81c7-40ee-98a5-67783a48dc66 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: building_blocks +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Stack the building blocks on the table with the gripper. +sub_tasks: +- subtask: Grasp the blue building block with left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the pink building block in the center of table with left gripper. + subtask_index: 2 +- subtask: Grasp the pink building block with left gripper. + subtask_index: 3 +- subtask: Place the blue building block on the pink building blocks with left gripper. + subtask_index: 4 +- subtask: Grasp the green building block with left gripper. + subtask_index: 5 +- subtask: Place the pink building block on the blue building blocks with right gripper. + subtask_index: 6 +- subtask: Place the green block on the pink block with left gripper. + subtask_index: 7 +- subtask: Place the blue building block on the blue building blocks with right gripper. + subtask_index: 8 +- subtask: Place the blue building block on the pink building blocks with right gripper. + subtask_index: 9 +- subtask: Grasp the blue building block with right gripper. + subtask_index: 10 +- subtask: Place the pink building block on the blue building blocks with left gripper. + subtask_index: 11 +- subtask: Place the blue building block on the blue building blocks with left gripper. + subtask_index: 12 +- subtask: Grasp the pink building block with right gripper. + subtask_index: 13 +- subtask: Place the pink block on the blue block with right gripper. + subtask_index: 14 +- subtask: Place the blue building block in the center of table with left gripper. + subtask_index: 15 +- subtask: null. + subtask_index: 16 +atomic_actions: +- grasp +- place +- pick +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_chest_rgb +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 139 + total_frames: 130049 + fps: 30 + total_tasks: 17 + total_videos: 556 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 4 + dataset_size: 3.44 GB +frame_num: 130049 +frame_range: 1M +dataset_size: 3.44 GB +data_structure: 'alpha_bot_2_stack_building_blocks_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (127 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_chest_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:138 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/AI2_Alphabot_2_sticker.yaml b/dataset_info/AI2_Alphabot_2_sticker.yaml new file mode 100644 index 0000000000000000000000000000000000000000..971a47782dbbf387ece04dedc5015a012602a1d3 --- /dev/null +++ b/dataset_info/AI2_Alphabot_2_sticker.yaml @@ -0,0 +1,500 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: AI2_Alphabot_2_sticker +dataset_uuid: 81aee7b0-84c3-4b85-9778-c5c9df188afd +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: poster +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the poster on the table with the hand. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Stick the advertisement in the top-right corner area with both grippers. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- place +- pick +robot_name: AI2_Alphabot_2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_chest_rgb +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 93 + total_frames: 97993 + fps: 30 + total_tasks: 3 + total_videos: 372 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 4 + dataset_size: 1.87 GB +frame_num: 97993 +frame_range: 100K +dataset_size: 1.87 GB +data_structure: 'alpha_bot_2_sticker_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (81 more entries) + + |-- logs + + | `-- collect + + | `-- collect_20260521191507.log + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_chest_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:92 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_chest_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_basket_storage_banana.yaml b/dataset_info/Agilex_Cobot_Magic_basket_storage_banana.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8a33fde195a6c29a5c56419cdc9ea94621d77270 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_basket_storage_banana.yaml @@ -0,0 +1,478 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_basket_storage_banana +dataset_uuid: e9d8e155-1dc0-4402-b406-4b59d65884c7 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: banana +- object_name: basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the banana with the gripper and place it into the basket. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the banana into the basket with right gripper. + subtask_index: 1 +- subtask: Grasp the banana with right gripper. + subtask_index: 2 +- subtask: Place the basket in the center of the table with the left gripper. + subtask_index: 3 +- subtask: Grasp the basket with the left gripper. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- place +- pick +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 368 + total_frames: 164327 + fps: 30 + total_tasks: 8 + total_videos: 1104 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 2.81 GB +frame_num: 164327 +frame_range: 1M +dataset_size: 2.81 GB +data_structure: 'Split_aloha_basket_storage_banana_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (356 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:367 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_basket_storage_bread.yaml b/dataset_info/Agilex_Cobot_Magic_basket_storage_bread.yaml new file mode 100644 index 0000000000000000000000000000000000000000..51e9983a5eb3da444ff12a471a57e2bef85ab076 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_basket_storage_bread.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_basket_storage_bread +dataset_uuid: c86fb8b5-8845-4798-9c83-f3a7aec176f7 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: long_bread +- object_name: basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the black basket with the left gripper and place it in the middle of the table. + Pick up the long bread with the right gripper and place it into the black basket. +- Grasp the black basket with the right gripper and place it in the middle of the + table. Pick up the long bread with the left gripper and place it into the black + basket. +- Grasp the yellow basket with the left gripper and place it in the middle of the + table. Pick up the long bread with the right gripper and place it into the yellow + basket. +- Grasp the yellow basket with the right gripper and place it in the middle of the + table. Pick up the long bread with the left gripper and place it into the yellow + basket. +sub_tasks: +- subtask: abnormal. + subtask_index: 0 +- subtask: Pick up the bread. + subtask_index: 1 +- subtask: Move the basket to the center of view. + subtask_index: 2 +- subtask: place the bread into the basket. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- place +- pick +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 497 + total_frames: 211779 + fps: 30 + total_tasks: 5 + total_videos: 1491 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 4.31 GB +frame_num: 211779 +frame_range: 1M +dataset_size: 4.31 GB +data_structure: 'Split_aloha_basket_storage_bread_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (485 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:496 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_basket_storage_egg_yolk_pastry.yaml b/dataset_info/Agilex_Cobot_Magic_basket_storage_egg_yolk_pastry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..31afaf4bc02fbe35f12f01401127c185356f628d --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_basket_storage_egg_yolk_pastry.yaml @@ -0,0 +1,478 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_basket_storage_egg_yolk_pastry +dataset_uuid: c5e8e66a-392d-4197-8236-7a50365c0ed3 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: egg_yolk_pastry +- object_name: basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the egg yolk pastry with the gripper and place it into the basket. +sub_tasks: +- subtask: Grasp the basket with left gripper. + subtask_index: 0 +- subtask: Static. + subtask_index: 1 +- subtask: Grasp egg yolk pastry with right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Place the egg yolk pastry into the basket with right gripper. + subtask_index: 5 +- subtask: Place the basket in the center of view with left gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- place +- pick +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 629 + total_frames: 254419 + fps: 30 + total_tasks: 8 + total_videos: 1887 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 6.67 GB +frame_num: 254419 +frame_range: 1M +dataset_size: 6.67 GB +data_structure: 'Split_aloha_basket_storage_egg_yolk_pastry_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (617 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:628 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_basket_storage_long_bread.yaml b/dataset_info/Agilex_Cobot_Magic_basket_storage_long_bread.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dbffd97ed747d1f46e0a9ac3b106f938ccedcbe6 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_basket_storage_long_bread.yaml @@ -0,0 +1,478 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_basket_storage_long_bread +dataset_uuid: 3edf5fc6-ba54-4b74-901e-ac0b49ed35b3 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: long_bread +- object_name: basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the long bread with the gripper and place it into the basket. +sub_tasks: +- subtask: Grasp the long bread with right gripper. + subtask_index: 0 +- subtask: Grasp the basket with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the long bread into the basket with right gripper. + subtask_index: 3 +- subtask: Place the basket in the center of the table with the left gripper. + subtask_index: 4 +- subtask: Abnormal. + subtask_index: 5 +- subtask: Static. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- place +- pick +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 311 + total_frames: 129236 + fps: 30 + total_tasks: 8 + total_videos: 933 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 3.67 GB +frame_num: 129236 +frame_range: 1M +dataset_size: 3.67 GB +data_structure: 'Split_aloha_basket_storage_long_bread_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (299 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:310 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_basket_storage_orange.yaml b/dataset_info/Agilex_Cobot_Magic_basket_storage_orange.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7f5e134c46a31ae5c859d7ec5cbdf036efd81737 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_basket_storage_orange.yaml @@ -0,0 +1,478 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_basket_storage_orange +dataset_uuid: f478bc5f-0850-4241-9c9b-cea1674f8e67 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: orange +- object_name: basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the orange with the gripper and place it into the basket. +sub_tasks: +- subtask: Place the basket in the center of view with left gripper. + subtask_index: 0 +- subtask: Place the orange into the basket with right gripper. + subtask_index: 1 +- subtask: Grasp the orange with right gripper. + subtask_index: 2 +- subtask: Grasp the basket with left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Abnormal. + subtask_index: 5 +- subtask: Static. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- place +- pick +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 642 + total_frames: 293847 + fps: 30 + total_tasks: 8 + total_videos: 1926 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 6.06 GB +frame_num: 293847 +frame_range: 1M +dataset_size: 6.06 GB +data_structure: 'Split_aloha_basket_storage_orange_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (630 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:641 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_basket_storage_peach.yaml b/dataset_info/Agilex_Cobot_Magic_basket_storage_peach.yaml new file mode 100644 index 0000000000000000000000000000000000000000..354d1be78a87a276c02a97d126023b32573f8ed6 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_basket_storage_peach.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_basket_storage_peach +dataset_uuid: aa4c76bf-e637-4da0-a962-fc0c3caea73c +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: peach +- object_name: basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the peach with the gripper and place it into the basket with the gripper. +sub_tasks: +- subtask: Pick up the peach. + subtask_index: 0 +- subtask: Place the peach into the basket with right gripper. + subtask_index: 1 +- subtask: place the peach into the basket. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Move the basket to the center of view. + subtask_index: 4 +- subtask: Grasp the peach with right gripper. + subtask_index: 5 +- subtask: Grasp the basket with left gripper. + subtask_index: 6 +- subtask: Place the basket in the center of view with left gripper. + subtask_index: 7 +- subtask: Abnormal. + subtask_index: 8 +- subtask: End. + subtask_index: 9 +- subtask: abnormal. + subtask_index: 10 +- subtask: null. + subtask_index: 11 +atomic_actions: +- grasp +- place +- pick +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 994 + total_frames: 392136 + fps: 30 + total_tasks: 12 + total_videos: 2982 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 4.99 GB +frame_num: 392136 +frame_range: 1M +dataset_size: 4.99 GB +data_structure: 'Split_aloha_basket_storage_peach_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (982 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:993 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_classify_objects_eight.yaml b/dataset_info/Agilex_Cobot_Magic_classify_objects_eight.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3c29a669ac448dc9b401144fda7298bf963fdc08 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_classify_objects_eight.yaml @@ -0,0 +1,675 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_classify_objects_eight +dataset_uuid: a3b685ba-0fd9-4833-81da-4ac1621636a3 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: brown_basket +- object_name: black_basket +- object_name: bread +- object_name: orange +- object_name: green_lemon +- object_name: pink_clear_plastic_cup +- object_name: laundry_detergent +- object_name: mentholatum_facial_cleanser +- object_name: lemon +- object_name: apple +- object_name: mango +- object_name: kiwi_fruit +- object_name: mangosteen +- object_name: pear +- object_name: avocado +- object_name: brown_clear_plastic_cup +- object_name: shampoo +- object_name: deli_water_based_marker +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the objects separately in different baskets with the gripper. +sub_tasks: +- subtask: Place the pear in the light basket with right gripper. + subtask_index: 0 +- subtask: Pick up the shampoo with left gripper. + subtask_index: 1 +- subtask: Place the pink marker pen in the dark basket with right gripper. + subtask_index: 2 +- subtask: Pick up the pear with left gripper. + subtask_index: 3 +- subtask: Place the lime in the light basket with right gripper. + subtask_index: 4 +- subtask: Place the laundry detergent in the dark basket with right gripper. + subtask_index: 5 +- subtask: Place the mango in the light basket with right gripper. + subtask_index: 6 +- subtask: Pick up the light brown cup with left gripper. + subtask_index: 7 +- subtask: Place the orange in the light basket with right gripper. + subtask_index: 8 +- subtask: Pick up the dark brown cup with left gripper. + subtask_index: 9 +- subtask: Place the dark brown cup in the dark basket with left gripper. + subtask_index: 10 +- subtask: Pick up the light brown cup with right gripper. + subtask_index: 11 +- subtask: Pick up pink marker pen with right gripper. + subtask_index: 12 +- subtask: Pick up the lime with left gripper. + subtask_index: 13 +- subtask: Pick up kiwi with left gripper. + subtask_index: 14 +- subtask: Pick up mango with left gripper. + subtask_index: 15 +- subtask: Place the shampoo in the dark basket with right gripper. + subtask_index: 16 +- subtask: Place the dark brown cup in the dark basket with right gripper. + subtask_index: 17 +- subtask: Pick up the pomegranate with right gripper. + subtask_index: 18 +- subtask: Pick up the pear with right gripper. + subtask_index: 19 +- subtask: Pick up the dark brown cup with right gripper. + subtask_index: 20 +- subtask: Pick up the red cup with right gripper. + subtask_index: 21 +- subtask: Place the pomegranate in the light basket with left gripper. + subtask_index: 22 +- subtask: Pick up the avocado with right gripper. + subtask_index: 23 +- subtask: Pick up the hard facial cleanser with left gripper. + subtask_index: 24 +- subtask: Place the Incense box in the dark basket with left gripper. + subtask_index: 25 +- subtask: Pick up the shampoo with right gripper. + subtask_index: 26 +- subtask: Place the banana in the light basket with right gripper. + subtask_index: 27 +- subtask: Place the laundry detergent in the dark basket with left gripper. + subtask_index: 28 +- subtask: Pick up the orange with right gripper. + subtask_index: 29 +- subtask: Place the mangosteen in the light basket with right gripper. + subtask_index: 30 +- subtask: Place the hard facial cleanser in the dark basket with right gripper. + subtask_index: 31 +- subtask: Pick up Incense box with right gripper. + subtask_index: 32 +- subtask: Place the red marker in the dark basket with right gripper. + subtask_index: 33 +- subtask: Pick up the lemon with left gripper. + subtask_index: 34 +- subtask: Place the banana in the light basket with left gripper. + subtask_index: 35 +- subtask: Pick up Incense box with left gripper. + subtask_index: 36 +- subtask: Pick up kiwi with right gripper. + subtask_index: 37 +- subtask: Pick up the mango with right gripper. + subtask_index: 38 +- subtask: Place the lemon in the light basket with left gripper. + subtask_index: 39 +- subtask: Pick up the laundry detergent with left gripper. + subtask_index: 40 +- subtask: Pick up toothpaste with right gripper. + subtask_index: 41 +- subtask: Pick up the bread with right gripper. + subtask_index: 42 +- subtask: Pick up toothpaste with left gripper. + subtask_index: 43 +- subtask: Place the red cup in the dark basket with left gripper. + subtask_index: 44 +- subtask: Place the red cup in the dark basket with right gripper. + subtask_index: 45 +- subtask: Place the lemon in the light basket with right gripper. + subtask_index: 46 +- subtask: Pick up banana with left gripper. + subtask_index: 47 +- subtask: Place the avocado in the light basket with right gripper. + subtask_index: 48 +- subtask: Pick up egg yolk pastry with left gripper. + subtask_index: 49 +- subtask: Place the light brown cup in the dark basket with left gripper. + subtask_index: 50 +- subtask: Pick up egg yolk pastry with right gripper. + subtask_index: 51 +- subtask: Place the orange in the light basket with left gripper. + subtask_index: 52 +- subtask: Place the hard facial cleanser in the dark basket with left gripper. + subtask_index: 53 +- subtask: Pick up the lemon with right gripper. + subtask_index: 54 +- subtask: Place the kiwi in the light basket with right gripper. + subtask_index: 55 +- subtask: End. + subtask_index: 56 +- subtask: Pick up gray cup with left gripper. + subtask_index: 57 +- subtask: Place the pomegranate in the light basket with right gripper. + subtask_index: 58 +- subtask: Pick up banana with right gripper. + subtask_index: 59 +- subtask: Place the blackboard eraser in the dark basket with left gripper. + subtask_index: 60 +- subtask: Pick up the red marker with right gripper. + subtask_index: 61 +- subtask: Place the red marker in the dark basket with left gripper. + subtask_index: 62 +- subtask: Place the gray cup in the dark basket with left gripper. + subtask_index: 63 +- subtask: Pick up the red cup with left gripper. + subtask_index: 64 +- subtask: Place the kiwi in the light basket with left gripper. + subtask_index: 65 +- subtask: Pick up the mangosteen with left gripper. + subtask_index: 66 +- subtask: Pick up the orange with left gripper. + subtask_index: 67 +- subtask: Place the mangosteen in the light basket with left gripper. + subtask_index: 68 +- subtask: Place the bread in the light basket with right gripper. + subtask_index: 69 +- subtask: Place the toothpaste in the dark basket with right gripper. + subtask_index: 70 +- subtask: Pick up the lime with right gripper. + subtask_index: 71 +- subtask: Place the mango in the light basket with left gripper. + subtask_index: 72 +- subtask: Pick up the mangosteen with right gripper. + subtask_index: 73 +- subtask: Place the pink marker pen in the dark basket with left gripper. + subtask_index: 74 +- subtask: Pick up the red marker with left gripper. + subtask_index: 75 +- subtask: Place the pear in the light basket with left gripper. + subtask_index: 76 +- subtask: Pick up blackboard eraser with right gripper. + subtask_index: 77 +- subtask: Place the blackboard eraser in the dark basket with right gripper. + subtask_index: 78 +- subtask: Place the shampoo in the dark basket with left gripper. + subtask_index: 79 +- subtask: Place the egg yolk pastry in the light basket with left gripper. + subtask_index: 80 +- subtask: Pick up the pomegranate with left gripper. + subtask_index: 81 +- subtask: Place the toothpaste in the dark basket with left gripper. + subtask_index: 82 +- subtask: Pick up blackboard eraser with left gripper. + subtask_index: 83 +- subtask: Place the Incense box in the dark basket with right gripper. + subtask_index: 84 +- subtask: Pick up the hard facial cleanser with right gripper. + subtask_index: 85 +- subtask: Place the apple in the light basket with right gripper. + subtask_index: 86 +- subtask: Place the avocado in the light basket with left gripper. + subtask_index: 87 +- subtask: Pick up pink marker pen with left gripper. + subtask_index: 88 +- subtask: Pick up the avocado with left gripper. + subtask_index: 89 +- subtask: Pick up the laundry detergent with right gripper. + subtask_index: 90 +- subtask: Place the egg yolk pastry in the light basket with right gripper. + subtask_index: 91 +- subtask: Pick up the apple with right gripper. + subtask_index: 92 +- subtask: Place the lime in the light basket with left gripper. + subtask_index: 93 +- subtask: null. + subtask_index: 94 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 197 + total_frames: 337837 + fps: 30 + total_tasks: 95 + total_videos: 591 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 4.51 GB +frame_num: 337837 +frame_range: 1M +dataset_size: 4.51 GB +data_structure: 'Agilex_Cobot_Magic_classify_objects_eight_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (185 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:196 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_classify_objects_six.yaml b/dataset_info/Agilex_Cobot_Magic_classify_objects_six.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bcdc1e07ea4f861ee17f4512604def5a6f62f64b --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_classify_objects_six.yaml @@ -0,0 +1,531 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_classify_objects_six +dataset_uuid: d86ae03e-0c72-4900-b2f6-e2045791fc75 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: brown_basket +- object_name: black_basket +- object_name: bread +- object_name: orange +- object_name: green_lemon +- object_name: pink_clear_plastic_cup +- object_name: laundry_detergent +- object_name: mentholatum_facial_cleanser +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place multiple objects separately with the gripper in different baskets. +sub_tasks: +- subtask: Place the orange in the light basket with left gripper. + subtask_index: 0 +- subtask: Grasp the xx with the right gripper. + subtask_index: 1 +- subtask: Pick up the facial cleanser with left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the facial cleanser in the dark basket with left gripper. + subtask_index: 4 +- subtask: Place the XX into the basket on the left with the right gripper. + subtask_index: 5 +- subtask: Place the lime in the light basket with right gripper. + subtask_index: 6 +- subtask: Place the laundry detergent in the dark basket with right gripper. + subtask_index: 7 +- subtask: Place the orange in the light basket with right gripper. + subtask_index: 8 +- subtask: Pick up the lime with left gripper. + subtask_index: 9 +- subtask: Place the XX into the basket on the right with the left gripper. + subtask_index: 10 +- subtask: Place the XX into the basket on the left with the left gripper. + subtask_index: 11 +- subtask: Place the XX into the basket on the right with the right gripper. + subtask_index: 12 +- subtask: Grasp the xx with the left gripper. + subtask_index: 13 +- subtask: Pick up the orange with left gripper. + subtask_index: 14 +- subtask: Place the bread in the light basket with right gripper. + subtask_index: 15 +- subtask: Pick up the laundry detergent with right gripper. + subtask_index: 16 +- subtask: Abnormal. + subtask_index: 17 +- subtask: Pick up the laundry detergent with left gripper. + subtask_index: 18 +- subtask: Pick up the facial cleanser with right gripper. + subtask_index: 19 +- subtask: Pick up the lime with right gripper. + subtask_index: 20 +- subtask: Pick up the bread with right gripper. + subtask_index: 21 +- subtask: Place the brown cup in the dark basket with left gripper. + subtask_index: 22 +- subtask: Place the laundry detergent in the dark basket with left gripper. + subtask_index: 23 +- subtask: Pick up the orange with right gripper. + subtask_index: 24 +- subtask: Place the lime in the light basket with left gripper. + subtask_index: 25 +- subtask: Pick up the brown cup with left gripper. + subtask_index: 26 +- subtask: null. + subtask_index: 27 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 199 + total_frames: 302506 + fps: 30 + total_tasks: 28 + total_videos: 597 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 3.88 GB +frame_num: 302506 +frame_range: 1M +dataset_size: 3.88 GB +data_structure: 'Agilex_Cobot_Magic_classify_objects_six_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (187 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:198 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_close_drawer_bottom.yaml b/dataset_info/Agilex_Cobot_Magic_close_drawer_bottom.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b952aad72b6de61bbac5d5e7d253e9f1738f277e --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_close_drawer_bottom.yaml @@ -0,0 +1,492 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_close_drawer_bottom +dataset_uuid: 2a4061d6-3481-43bf-8a3e-c6af26260c12 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: three_layer_transparent_drawer +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Close the bottom drawer with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: contact the bottom layer of the storage cabinet. + subtask_index: 1 +- subtask: Push the bottom drawer closed. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- push +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 16270 + fps: 30 + total_tasks: 4 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 157.62 MB +frame_num: 16270 +frame_range: 100K +dataset_size: 157.62 MB +data_structure: 'Agilex_Cobot_Magic_close_drawer_bottom_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_close_drawer_top.yaml b/dataset_info/Agilex_Cobot_Magic_close_drawer_top.yaml new file mode 100644 index 0000000000000000000000000000000000000000..13afaa5d0b25eb0fea4f2ea3aa49b91477c5cbb3 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_close_drawer_top.yaml @@ -0,0 +1,492 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_close_drawer_top +dataset_uuid: 15b13262-1e11-4077-8f08-322acc523c16 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: three_layer_transparent_drawer +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Close the top drawer with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Push the top drawer closed. + subtask_index: 1 +- subtask: touch the topmost layer of the storage cabinet. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- push +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 9800 + fps: 30 + total_tasks: 4 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 96.54 MB +frame_num: 9800 +frame_range: 10K +dataset_size: 96.54 MB +data_structure: 'Agilex_Cobot_Magic_close_drawer_top_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_close_drawer_upper.yaml b/dataset_info/Agilex_Cobot_Magic_close_drawer_upper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d233dcf966ff372457213257400cc90833322665 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_close_drawer_upper.yaml @@ -0,0 +1,496 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_close_drawer_upper +dataset_uuid: 774e0698-f498-4029-a2b3-1bb3944a4ee9 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: three_layer_transparent_drawer +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Close the upper drawer with the gripper. +sub_tasks: +- subtask: touch the topmost layer of the storage cabinet. + subtask_index: 0 +- subtask: Push the top drawer closed. + subtask_index: 1 +- subtask: contact the middle shelf of the cabinet. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Push the middle drawer closed. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- push +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 173 + total_frames: 49994 + fps: 30 + total_tasks: 6 + total_videos: 519 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 522.40 MB +frame_num: 49994 +frame_range: 100K +dataset_size: 522.40 MB +data_structure: 'Agilex_Cobot_Magic_close_drawer_upper_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (161 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:172 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_connect_block.yaml b/dataset_info/Agilex_Cobot_Magic_connect_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7443e9f975dd95cfeaead1521c513be2756d0f4f --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_connect_block.yaml @@ -0,0 +1,1087 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_connect_block +dataset_uuid: d05eddf5-fcba-47ca-9b30-a4fb190f803b +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: square_building_blocks +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Assemble the scattered blocks together according to the building block template + in front. +sub_tasks: +- subtask: place the yellow build block on the right of the green build block. + subtask_index: 0 +- subtask: place the blue build block on the behind of the green build block. + subtask_index: 1 +- subtask: place the yellow build block in the center of the table. + subtask_index: 2 +- subtask: place the blue build block on the right of the yellow build block. + subtask_index: 3 +- subtask: place the green build block on the red build block. + subtask_index: 4 +- subtask: place the yellow build block on the behind of the green build block. + subtask_index: 5 +- subtask: place the orange build block on the right of the yellow build block. + subtask_index: 6 +- subtask: place the orange build block on the right of the red build block. + subtask_index: 7 +- subtask: place the orange build block on the right of the blue build block. + subtask_index: 8 +- subtask: place the green build block on the left of the blue build block. + subtask_index: 9 +- subtask: place the blue build block on the left of the yellow build block. + subtask_index: 10 +- subtask: place the yellow build block on the right of the green build block. + subtask_index: 11 +- subtask: place the orange build block on the front of the blue build block. + subtask_index: 12 +- subtask: place the orange build block on the left of the green build block. + subtask_index: 13 +- subtask: place the blue build block on the right of the green build block. + subtask_index: 14 +- subtask: place the green build block on the behind of the blue build block. + subtask_index: 15 +- subtask: place the orange build block on the right of the build block. + subtask_index: 16 +- subtask: place the orange build block on the right of the green build block. + subtask_index: 17 +- subtask: place the red build block on the behind of the orange build block. + subtask_index: 18 +- subtask: place the red build block on the front of the yellow build block. + subtask_index: 19 +- subtask: place the orange build block on the front of the yellow build block. + subtask_index: 20 +- subtask: place the blue build block on the behind of the green build block. + subtask_index: 21 +- subtask: place the orange build block in the center of the table. + subtask_index: 22 +- subtask: place the yellow build block in the center of the table. + subtask_index: 23 +- subtask: place the green build block on the behind of the yellow build block. + subtask_index: 24 +- subtask: place the orange build block on the left of the blue build block. + subtask_index: 25 +- subtask: place the red build block on the right of the blue build block. + subtask_index: 26 +- subtask: place the yellow build block in the center of the table. + subtask_index: 27 +- subtask: place the red build block on the behind of the blue build block. + subtask_index: 28 +- subtask: place the blue build block on the behind of the orange build block. + subtask_index: 29 +- subtask: place the orange build block on the behind of the green build block. + subtask_index: 30 +- subtask: place the red build block on the right of the yellow build block. + subtask_index: 31 +- subtask: place the yellow build block on the front of the orange build block. + subtask_index: 32 +- subtask: place the blue build block on the right of the green build block. + subtask_index: 33 +- subtask: place the blue build block on the right of the red build block. + subtask_index: 34 +- subtask: place the red build block on the behind of the orange build block. + subtask_index: 35 +- subtask: place the yellow build block on the behind of the green build block. + subtask_index: 36 +- subtask: place the red build block on the right of the blue build block. + subtask_index: 37 +- subtask: place the green build block on the behind of the yellow build block. + subtask_index: 38 +- subtask: place the yellow build block on the behind of the green build block. + subtask_index: 39 +- subtask: place the orange build block on the behind of the red build block. + subtask_index: 40 +- subtask: place theyellow build block on the behind of the blue build block. + subtask_index: 41 +- subtask: place the green build block on the behind of the yellow build block. + subtask_index: 42 +- subtask: place the red build block on the right of the orange build block. + subtask_index: 43 +- subtask: place the yellow build block on the right of the red build block. + subtask_index: 44 +- subtask: place the blue build block on the right of the orange build block. + subtask_index: 45 +- subtask: place the green build block on the right of the yellow build block. + subtask_index: 46 +- subtask: place the orange build block in the center of the table. + subtask_index: 47 +- subtask: place the green build block on the orange build block. + subtask_index: 48 +- subtask: place the yellow build block on the right of the blue build block. + subtask_index: 49 +- subtask: place the green build block on the right of the red build block. + subtask_index: 50 +- subtask: place the green build block on the blue build block. + subtask_index: 51 +- subtask: place the green build block on the right of the orange build block. + subtask_index: 52 +- subtask: place the blue build block in the center of the table. + subtask_index: 53 +- subtask: place the orange build block on the behind of the green build block. + subtask_index: 54 +- subtask: place the red build block on the right of the yellow build block. + subtask_index: 55 +- subtask: place the blue build block on the behind of the green build block. + subtask_index: 56 +- subtask: place the orange build block on the right of the blue build block. + subtask_index: 57 +- subtask: place the yellow build block on the behind of the orange build block. + subtask_index: 58 +- subtask: place the orange build block in the center of the table. + subtask_index: 59 +- subtask: place the blue build block on the right of the yellow build block. + subtask_index: 60 +- subtask: place the orange build block on the behind of the yellow build block. + subtask_index: 61 +- subtask: place the yellow build block on the behind of the green build block. + subtask_index: 62 +- subtask: place the blue build block on the front of the orange build block. + subtask_index: 63 +- subtask: place the green build block on the behind of the red build block. + subtask_index: 64 +- subtask: place the green build block in the center of the table. + subtask_index: 65 +- subtask: place the green build block on the right of the yellow build block. + subtask_index: 66 +- subtask: place the red build block on the right of the blue build block. + subtask_index: 67 +- subtask: place the red build block on the behind of the green build block. + subtask_index: 68 +- subtask: place the blue build block on the behind of the orange build block. + subtask_index: 69 +- subtask: place the yellow build block on the right of the red build block. + subtask_index: 70 +- subtask: place the blue build block in the center of the table. + subtask_index: 71 +- subtask: place the red build block on the behind of the yellow build block. + subtask_index: 72 +- subtask: place the yellow build block on the right of the red build block. + subtask_index: 73 +- subtask: place the green build block on the right of the orange build block. + subtask_index: 74 +- subtask: place the red build block on the blue build block. + subtask_index: 75 +- subtask: place the orange build block on the left of the yellow build block. + subtask_index: 76 +- subtask: place the green build block on the right of the red build block. + subtask_index: 77 +- subtask: place the red build block on the left of the orange build block. + subtask_index: 78 +- subtask: place the orange build block on the right of the blue build block. + subtask_index: 79 +- subtask: place the red build block on the right of the orange build block. + subtask_index: 80 +- subtask: place the orange build block on the behind of the yellow build block. + subtask_index: 81 +- subtask: place the yellow build block in the center of the table. + subtask_index: 82 +- subtask: place the yellow build block on the behind of the red build block. + subtask_index: 83 +- subtask: place the yellow build block on the behind of the blue build block. + subtask_index: 84 +- subtask: place the orange build block on the behind of the red build block. + subtask_index: 85 +- subtask: place the yellow build block in the center of the table. + subtask_index: 86 +- subtask: place the green build block on the right of the blue build block. + subtask_index: 87 +- subtask: place the orange build block on the right of the yellow build block. + subtask_index: 88 +- subtask: place the blue build block on the right of the yellow build block. + subtask_index: 89 +- subtask: place the red build block on the right of the green build block. + subtask_index: 90 +- subtask: place the orange build block on the behind of the yellow build block. + subtask_index: 91 +- subtask: place the yellow build block on the blue build block. + subtask_index: 92 +- subtask: place the red build block on the right of the orange build block. + subtask_index: 93 +- subtask: place the bluebuild block on the right of the yellow build block. + subtask_index: 94 +- subtask: place the red build block in the center of the table. + subtask_index: 95 +- subtask: place the red build block on the blue build block. + subtask_index: 96 +- subtask: place the orange build block on the right of the blue build block. + subtask_index: 97 +- subtask: place the blue build block on the behind of the orange build block. + subtask_index: 98 +- subtask: place the yellow build block on the right of the red build block. + subtask_index: 99 +- subtask: place the yellow build block on the behind of the green build block. + subtask_index: 100 +- subtask: place the yellow build block on the right of the orange build block. + subtask_index: 101 +- subtask: place the orange build block on the behind of the blue build block. + subtask_index: 102 +- subtask: place the orange build block on the right of the red build block. + subtask_index: 103 +- subtask: place the green build block on the behind of the orange build block. + subtask_index: 104 +- subtask: place the blue build block on the behind of the yellow build block. + subtask_index: 105 +- subtask: place the yellow build block on the right of the orange build block. + subtask_index: 106 +- subtask: place the green build block on the behind of the yellow build block. + subtask_index: 107 +- subtask: place the green build block on the right of the red build block. + subtask_index: 108 +- subtask: place the red build block on the front of the blue build block. + subtask_index: 109 +- subtask: place the red build block on the behind of the green' build block. + subtask_index: 110 +- subtask: place the red build block on the behind of the orange build block. + subtask_index: 111 +- subtask: place the red build block on the left of the green build block. + subtask_index: 112 +- subtask: place the green build block on the behind of the yellow build block. + subtask_index: 113 +- subtask: place blue the build block on the right of the red build block. + subtask_index: 114 +- subtask: place the green build block on the orange build block. + subtask_index: 115 +- subtask: place the orange build block on the right of the red build block. + subtask_index: 116 +- subtask: place the blue build block on the right of the green build block. + subtask_index: 117 +- subtask: place the yellow build block on the right of the blue build block. + subtask_index: 118 +- subtask: place the orange build block on the behind of the blue build block. + subtask_index: 119 +- subtask: place the yellow build block in the center of the table. + subtask_index: 120 +- subtask: place the yellow build block on the right of the green build block. + subtask_index: 121 +- subtask: place the green build block on the behind of the yellow build block. + subtask_index: 122 +- subtask: place the blue build block in the center of the table. + subtask_index: 123 +- subtask: place the orange build block in the center of the table. + subtask_index: 124 +- subtask: place the yellow build block on the right of the green build block. + subtask_index: 125 +- subtask: place the red build block on the right of the yellow build block. + subtask_index: 126 +- subtask: place the yellow build block on the behind of the red build block. + subtask_index: 127 +- subtask: place the red build block on the behind of the green build block. + subtask_index: 128 +- subtask: place the green build block on the behind of the blue build block. + subtask_index: 129 +- subtask: place the green build block on the behind of the orange build block. + subtask_index: 130 +- subtask: place the blue build block on the right of the green build block. + subtask_index: 131 +- subtask: place the green build block in the center of the table. + subtask_index: 132 +- subtask: place the green build block on the behind of the blue build block. + subtask_index: 133 +- subtask: place the green build block on the left of the orange build block. + subtask_index: 134 +- subtask: place the red build block on the behind of the yellow build block. + subtask_index: 135 +- subtask: place the yellow build block on the right of the green build block. + subtask_index: 136 +- subtask: place the blue build block on the behind of the red build block. + subtask_index: 137 +- subtask: place the orange build block on the behind of the red build block. + subtask_index: 138 +- subtask: place the blue build block on the behind of the green build block. + subtask_index: 139 +- subtask: place the yellow build block on the blue build block. + subtask_index: 140 +- subtask: place the red build block on the front of the green build block. + subtask_index: 141 +- subtask: place the red build block on the left of the ornage build block. + subtask_index: 142 +- subtask: place the green build block in the center of the table. + subtask_index: 143 +- subtask: place the red build block on the right of the green build block. + subtask_index: 144 +- subtask: place the yellow build block on the right of the orange build block. + subtask_index: 145 +- subtask: place the yellow build block on the right of the blue build block. + subtask_index: 146 +- subtask: place the XX build block on the XX build block. + subtask_index: 147 +- subtask: place the yellow build block in the center of the table. + subtask_index: 148 +- subtask: place the orange build block on the green build block. + subtask_index: 149 +- subtask: End. + subtask_index: 150 +- subtask: place the blue build block on the right of the red build block. + subtask_index: 151 +- subtask: place the green build block on the right of the orange build block. + subtask_index: 152 +- subtask: place the greem build block on the behind of the blue build block. + subtask_index: 153 +- subtask: place the left build block on the left of the green build block. + subtask_index: 154 +- subtask: place the green build block on the right of the orange build block. + subtask_index: 155 +- subtask: place the red build block on the left of the blue build block. + subtask_index: 156 +- subtask: place the blue build block on the right of the orange build block. + subtask_index: 157 +- subtask: place the yellow build block on the behind of the orange build block. + subtask_index: 158 +- subtask: place the green build block on the behind of the blue build block. + subtask_index: 159 +- subtask: place the yellow build block on the right of the orange build block. + subtask_index: 160 +- subtask: place the blue build block on the behind of the orange build block. + subtask_index: 161 +- subtask: place the red build block on the front of the green build block. + subtask_index: 162 +- subtask: place the red build block on the front of the yellow build block. + subtask_index: 163 +- subtask: place the yellow build block on the behind of the blue build block. + subtask_index: 164 +- subtask: place the blue build block on the orange build block. + subtask_index: 165 +- subtask: place the green build block in the center of the table. + subtask_index: 166 +- subtask: place the orange build block on the front of the blue build block. + subtask_index: 167 +- subtask: place the blue build block on the right of the yellow build block. + subtask_index: 168 +- subtask: place the blue build block on the left of the yellow build block. + subtask_index: 169 +- subtask: place the orange build block on the right of the yellow build block. + subtask_index: 170 +- subtask: place the orange build block on the left of the red build block. + subtask_index: 171 +- subtask: place the green build block in the center of the table. + subtask_index: 172 +- subtask: place the red build block on the right of the blue build block. + subtask_index: 173 +- subtask: place the blue build block on the right of the yellow build block. + subtask_index: 174 +- subtask: place the green build block on the right of the orange build block. + subtask_index: 175 +- subtask: place the blue build block in the center of the table. + subtask_index: 176 +- subtask: place the green build block on the right of the red build block. + subtask_index: 177 +- subtask: place the green build block on the right of the blue build block. + subtask_index: 178 +- subtask: place the yellow build block in the center of the table. + subtask_index: 179 +- subtask: Abnormal. + subtask_index: 180 +- subtask: place the red build block on the behind of the orange build block. + subtask_index: 181 +- subtask: place the red build block on the yellow build block. + subtask_index: 182 +- subtask: place the orange build block on the right of the yellow build block. + subtask_index: 183 +- subtask: place the red build block on the right of the yellow build block. + subtask_index: 184 +- subtask: place the orange build block on the right of the blue build block. + subtask_index: 185 +- subtask: place the orange build block on the orange build block. + subtask_index: 186 +- subtask: place the blue build block on the behind of the red build block. + subtask_index: 187 +- subtask: place the yellow build block on the right of the blue build block. + subtask_index: 188 +- subtask: place the yellow build block on the behind of the green build block. + subtask_index: 189 +- subtask: place the yellow build block on the left of the blue build block. + subtask_index: 190 +- subtask: place the yellow build block on the right of the orange build block. + subtask_index: 191 +- subtask: place the yellow build block on the blue build block. + subtask_index: 192 +- subtask: place the yellow build block on the behind of the blue build block. + subtask_index: 193 +- subtask: place the green build block on the right of the blue build block. + subtask_index: 194 +- subtask: place the orange build block on the right of the yellow build block. + subtask_index: 195 +- subtask: place the red build block on the behind of the green build block. + subtask_index: 196 +- subtask: place the red build block in the center of the table. + subtask_index: 197 +- subtask: place the yellow build block on the behind of the blue build block. + subtask_index: 198 +- subtask: place the green build block on the behind of the orange build block. + subtask_index: 199 +- subtask: place the yellow build block on the behind of the red build block. + subtask_index: 200 +- subtask: place the green build block on the right of the yellow build block. + subtask_index: 201 +- subtask: place the green build block on the red build block. + subtask_index: 202 +- subtask: place the blue build block on the right of the orange build block. + subtask_index: 203 +- subtask: place the red build block on the behind of the orange build block. + subtask_index: 204 +- subtask: place the red build block in the center of the table. + subtask_index: 205 +- subtask: place the red build block in the center of the table. + subtask_index: 206 +- subtask: place the green build block on the right of the orange build block. + subtask_index: 207 +- subtask: place the green build block on the front of the blue build block. + subtask_index: 208 +- subtask: place the yellow build block on the behind of the orange build block. + subtask_index: 209 +- subtask: place the yellow build block on the behind of the blue build block. + subtask_index: 210 +- subtask: place the green build block on the blue build block. + subtask_index: 211 +- subtask: place the blue build block on the right of the yellow build block. + subtask_index: 212 +- subtask: place the blue build block on the right of the orange build block. + subtask_index: 213 +- subtask: place the orange build block on the left of the red build block. + subtask_index: 214 +- subtask: place the orange build block on the right of the blue build block. + subtask_index: 215 +- subtask: place the blue build block on the front of the green build block. + subtask_index: 216 +- subtask: place the yellow build block on the orange build block. + subtask_index: 217 +- subtask: place the yellow build block on the front of the red build block. + subtask_index: 218 +- subtask: place the orange build block on the behind of the red build block. + subtask_index: 219 +- subtask: place the yellow build block on the behind of the green build block. + subtask_index: 220 +- subtask: place the blue build block on the right of orange the build block. + subtask_index: 221 +- subtask: place the red build block on the right of the blue build block. + subtask_index: 222 +- subtask: place the green build block on the behind of the orange build block. + subtask_index: 223 +- subtask: place the green build block on the behind of the yellow build block. + subtask_index: 224 +- subtask: place the yellow build block on the right of the green build block. + subtask_index: 225 +- subtask: place the orange build block on the right of the green build block. + subtask_index: 226 +- subtask: place the orange build block on the right of the yellow build block. + subtask_index: 227 +- subtask: place the red build block on the green build block. + subtask_index: 228 +- subtask: place the red build block on the right of the blue build block. + subtask_index: 229 +- subtask: place the blue build block on the behind of the green build block. + subtask_index: 230 +- subtask: place the orange build block on the right of the red build block. + subtask_index: 231 +- subtask: place the blue build block on the red build block. + subtask_index: 232 +- subtask: place the orange build block on the right of the blue build block. + subtask_index: 233 +- subtask: place the orange build block on the left of the yellow build block. + subtask_index: 234 +- subtask: place the right build block on the right of the yellow build block. + subtask_index: 235 +- subtask: place the green build block on the right of the red build block. + subtask_index: 236 +- subtask: place the orange build block on the right of the green build block. + subtask_index: 237 +- subtask: place the blue build block in the center of the table. + subtask_index: 238 +- subtask: place the orange build block on the behind of the yellow build block. + subtask_index: 239 +- subtask: place the orange build block on the right of the blue build block. + subtask_index: 240 +- subtask: place the orange build block on the behind of the blue build block. + subtask_index: 241 +- subtask: place the red build block on the behind of the yellow build block. + subtask_index: 242 +- subtask: place the ornage build block on the behind of the green build block. + subtask_index: 243 +- subtask: place the blue build block on the left of the yellow build block. + subtask_index: 244 +- subtask: place the green build block on the front of the blue build block. + subtask_index: 245 +- subtask: place the green build block on the behind of the red build block. + subtask_index: 246 +- subtask: place the green build block on the right of the orange build block. + subtask_index: 247 +- subtask: place the green build block on the right of the orange build block. + subtask_index: 248 +- subtask: place the yellow build block on the behind of the red build block. + subtask_index: 249 +- subtask: place the blue build block on the green build block. + subtask_index: 250 +- subtask: place the blue build block on the right of the orange build block. + subtask_index: 251 +- subtask: place the orange build block on the right of the green build block. + subtask_index: 252 +- subtask: place the orange build block on the behind of the yellow build block. + subtask_index: 253 +- subtask: place the green build block in the center of the table. + subtask_index: 254 +- subtask: place the blue build block on the behind of the orange build block. + subtask_index: 255 +- subtask: place the green build block on the left of the orange build block. + subtask_index: 256 +- subtask: place the green build block on the right of the yellow build block. + subtask_index: 257 +- subtask: place the green build block on the left of the blue build block. + subtask_index: 258 +- subtask: place the orange build block on the right of the green build block. + subtask_index: 259 +- subtask: place the green build block on the orange build block. + subtask_index: 260 +- subtask: place the blue build block on the behind of the green build block. + subtask_index: 261 +- subtask: place the yellow build block on the behind of the red build block. + subtask_index: 262 +- subtask: place the orange build block on the green build block. + subtask_index: 263 +- subtask: place the red build block on the behind of the blue build block. + subtask_index: 264 +- subtask: place the blue build block on the right of the orange build block. + subtask_index: 265 +- subtask: move the build block to the center of the table. + subtask_index: 266 +- subtask: place the green build block on the right of the red build block. + subtask_index: 267 +- subtask: place the red build block on the behind of the green build block. + subtask_index: 268 +- subtask: place the red build block on the behind of the blue build block. + subtask_index: 269 +- subtask: place the yellow build block on the behind of the orange build block. + subtask_index: 270 +- subtask: place the red build block on the right of the orange build block. + subtask_index: 271 +- subtask: place the green build block on the right of the yellow build block. + subtask_index: 272 +- subtask: place the red build block on the right of the yellow build block. + subtask_index: 273 +- subtask: place the red build block in the center of the table. + subtask_index: 274 +- subtask: place the red build block on the right of the blue build block. + subtask_index: 275 +- subtask: place the yellow build block on the behind of the green build block. + subtask_index: 276 +- subtask: place the red build block on the right of the orange build block. + subtask_index: 277 +- subtask: place the blue build block on the right of the orange build block. + subtask_index: 278 +- subtask: place the orange build block on the behind of the green build block. + subtask_index: 279 +- subtask: place the blue build block on the front of the green build block. + subtask_index: 280 +- subtask: place the ornage build block on the behind of the blue build block. + subtask_index: 281 +- subtask: place the yellow build block on the behind of the orange build block. + subtask_index: 282 +- subtask: place the green build block on the behind of the blue build block. + subtask_index: 283 +- subtask: place the green build block on the left of the blue build block. + subtask_index: 284 +- subtask: place the blue build block in the center of the table. + subtask_index: 285 +- subtask: place the green build block on the right of the yellow build block. + subtask_index: 286 +- subtask: place the yellow build block on the behind of the blue build block. + subtask_index: 287 +- subtask: place the green build block on the right of the orange build block. + subtask_index: 288 +- subtask: place the green build block on the blue build block. + subtask_index: 289 +- subtask: place the orange build block on the behind of the blue build block. + subtask_index: 290 +- subtask: place the red build block on the behind of the yellow build block. + subtask_index: 291 +- subtask: place the orange build block on the blue build block. + subtask_index: 292 +- subtask: place the green build block on the right of the orange build block. + subtask_index: 293 +- subtask: place the orange build block on the left of the red build block. + subtask_index: 294 +- subtask: place the green build block in the center of the table. + subtask_index: 295 +- subtask: null. + subtask_index: 296 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_chest_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 238 + total_frames: 232528 + fps: 30 + total_tasks: 297 + total_videos: 952 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 4 + dataset_size: 2.20 GB +frame_num: 232528 +frame_range: 1M +dataset_size: 2.20 GB +data_structure: 'Agilex_Cobot_Magic_connect_block_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (226 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_chest_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:237 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_erase_board.yaml b/dataset_info/Agilex_Cobot_Magic_erase_board.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b2f4fbaf553c6ccd6779d542aee3404630411f03 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_erase_board.yaml @@ -0,0 +1,505 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_erase_board +dataset_uuid: 438b28d5-a99a-40e0-8810-237f5186f824 +scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: whiteboard +- object_name: green_whiteboard_Eraser +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Wipe off the handwriting on the whiteboard with the gripper. +sub_tasks: +- subtask: Place the eraser with the left gripper. + subtask_index: 0 +- subtask: end. + subtask_index: 1 +- subtask: Grasp the eraser with the left gripper. + subtask_index: 2 +- subtask: Grasp the eraser and wipe the blackboard with the right gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Grasp the eraser and wipe the blackboard with the left gripper. + subtask_index: 5 +- subtask: Place the eraser with the right gripper. + subtask_index: 6 +- subtask: Grasp the eraser with the right gripper. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- lift +- place +- wipe +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 24688 + fps: 30 + total_tasks: 9 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 230.75 MB +frame_num: 24688 +frame_range: 100K +dataset_size: 230.75 MB +data_structure: 'Agilex_Cobot_Magic_erase_board_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_erase_board_left.yaml b/dataset_info/Agilex_Cobot_Magic_erase_board_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f81df85d17e7809a3fa6db252f952a6411a7a239 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_erase_board_left.yaml @@ -0,0 +1,506 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_erase_board_left +dataset_uuid: 9b90a2fb-f16f-4899-a993-543c3fef3f1a +scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: whiteboard +- object_name: whiteboard_eraser +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the whiteboard eraser with the left claw. Wipe the notes on the whiteboard + with the left claw. Place them back in place with the left claw. +sub_tasks: +- subtask: Place the eraser with the left gripper. + subtask_index: 0 +- subtask: Grasp the eraser with the left gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Grasp the eraser and wipe the blackboard with the left gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- lift +- wipe +- pass +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 23847 + fps: 30 + total_tasks: 6 + total_videos: 147 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 217.76 MB +frame_num: 23847 +frame_range: 100K +dataset_size: 217.76 MB +data_structure: 'Agilex_Cobot_Magic_erase_board_left_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- logs + + | `-- collect + + | `-- collect_20260520171226.log + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_erase_board_left_side.yaml b/dataset_info/Agilex_Cobot_Magic_erase_board_left_side.yaml new file mode 100644 index 0000000000000000000000000000000000000000..05b714ef4925cfe81f63c9efd7f8d4c337d153f3 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_erase_board_left_side.yaml @@ -0,0 +1,503 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_erase_board_left_side +dataset_uuid: 8cb016b7-6c8a-4c50-9e2f-4588b4853b6d +scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: whiteboard +- object_name: red_whiteboard_Eraser +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Wipe off the handwriting on the whiteboard with the gripper. +sub_tasks: +- subtask: Place the eraser with the left gripper. + subtask_index: 0 +- subtask: Grasp the eraser with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the eraser and wipe the blackboard with the right gripper. + subtask_index: 3 +- subtask: Place the eraser with the right gripper. + subtask_index: 4 +- subtask: Grasp the eraser with the right gripper. + subtask_index: 5 +- subtask: Grasp the eraser and wipe the blackboard with the left gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- lift +- place +- wipe +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 101 + total_frames: 51478 + fps: 30 + total_tasks: 8 + total_videos: 303 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 490.77 MB +frame_num: 51478 +frame_range: 100K +dataset_size: 490.77 MB +data_structure: 'Agilex_Cobot_Magic_erase_board_left_side_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (89 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:100 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_erase_board_passing_left_to_right.yaml b/dataset_info/Agilex_Cobot_Magic_erase_board_passing_left_to_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5707988ad264618067a1e7eb01a96b393fbc097d --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_erase_board_passing_left_to_right.yaml @@ -0,0 +1,492 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_erase_board_passing_left_to_right +dataset_uuid: 8aa2785d-1519-455f-855d-f31b736e8981 +scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: whiteboard +- object_name: whiteboard_eraser +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the eraser in the right position with the right gripper, pick up the eraser + with the right gripper, wipe the notes on the whiteboard with the right gripper, + and then place it down with the right gripper. +sub_tasks: +- subtask: Right gripper. + subtask_index: 0 +- subtask: Move the board eraser to the center of the whiteboard with left gripper. + subtask_index: 1 +- subtask: Wipe off the writing on the board with right gripper. + subtask_index: 2 +- subtask: Place the board eraser on the right side of board with right gripper. + subtask_index: 3 +- subtask: Move the board eraser to the right of the whiteboard with right gripper. + subtask_index: 4 +- subtask: Pick up the board eraser with right gripper. + subtask_index: 5 +- subtask: Move the board eraser to the right of the whiteboard with left gripper. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: Left gripper. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- lift +- wipe +- pass +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 38393 + fps: 30 + total_tasks: 10 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 335.24 MB +frame_num: 38393 +frame_range: 100K +dataset_size: 335.24 MB +data_structure: 'Agilex_Cobot_Magic_erase_board_passing_left_to_right_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_erase_board_passing_right_to_left.yaml b/dataset_info/Agilex_Cobot_Magic_erase_board_passing_right_to_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..97fbad5c43494c3ef3fc79046ad0218527991c27 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_erase_board_passing_right_to_left.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_erase_board_passing_right_to_left +dataset_uuid: 3c27e326-2f30-4945-a85c-a432016bb415 +scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: whiteboard +- object_name: whiteboard_eraser +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the eraser in the left with the left gripper, pick up the eraser with the + left gripper, wipe the notes on the whiteboard with the left gripper, and then place + it down with the left gripper. +sub_tasks: +- subtask: Place the eraser with the left gripper. + subtask_index: 0 +- subtask: Grasp the eraser with the left gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Move the eraser to the left side of the blackboard with the right gripper. + subtask_index: 4 +- subtask: Grasp the eraser and wipe the blackboard with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- lift +- wipe +- pass +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 38184 + fps: 30 + total_tasks: 7 + total_videos: 141 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 334.71 MB +frame_num: 38184 +frame_range: 100K +dataset_size: 334.71 MB +data_structure: 'Agilex_Cobot_Magic_erase_board_passing_right_to_left_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_erase_board_right.yaml b/dataset_info/Agilex_Cobot_Magic_erase_board_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..38018efcbab5e1fc4a18521dfce7ef6f007ca92e --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_erase_board_right.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_erase_board_right +dataset_uuid: 32c81d4a-7981-47e6-b06c-ca711fe5694a +scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: whiteboard +- object_name: whiteboard_eraser +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the board eraser with the gripper, wipe the notes on the whiteboard with + the gripper, and then place them back in place with the gripper. +sub_tasks: +- subtask: Right gripper. + subtask_index: 0 +- subtask: Wipe off the writing on the board with right gripper. + subtask_index: 1 +- subtask: Place the board eraser on the right side of board with right gripper. + subtask_index: 2 +- subtask: Move the board eraser to the right of the whiteboard with right gripper. + subtask_index: 3 +- subtask: Pick up the board eraser with right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- lift +- wipe +- pass +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 28998 + fps: 30 + total_tasks: 7 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 249.99 MB +frame_num: 28998 +frame_range: 100K +dataset_size: 249.99 MB +data_structure: 'Agilex_Cobot_Magic_erase_board_right_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_T-shirts.yaml b/dataset_info/Agilex_Cobot_Magic_fold_T-shirts.yaml new file mode 100644 index 0000000000000000000000000000000000000000..08c8176c2ab774f1d5ff68f0dd9d6a7d13e6330a --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_T-shirts.yaml @@ -0,0 +1,491 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_fold_T-shirts +dataset_uuid: 12c90605-38c4-4fce-b333-8a75fb70309d +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: black_T-shirt +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Fold the clothes on the table with the gripper. +sub_tasks: +- subtask: Lift the black T-shirt with the left gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Lift the black T-shirt with the right gripper. + subtask_index: 2 +- subtask: Grasp the black T-shirt with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Fold the black T-shirt downward with the right gripper. + subtask_index: 5 +- subtask: Grasp the black T-shirt with the right gripper. + subtask_index: 6 +- subtask: Fold the black T-shirt downward with the left gripper. + subtask_index: 7 +- subtask: Fold the black T-shirt from right to left with right gripper. + subtask_index: 8 +- subtask: wipe the clothes. + subtask_index: 9 +- subtask: null. + subtask_index: 10 +atomic_actions: +- grasp +- fold +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 78640 + fps: 30 + total_tasks: 11 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 913.86 MB +frame_num: 78640 +frame_range: 100K +dataset_size: 913.86 MB +data_structure: 'Agilex_Cobot_Magic_fold_T-shirts_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_clothes.yaml b/dataset_info/Agilex_Cobot_Magic_fold_clothes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a8fc0231fa895f314b16fa2bcf1d21d12a3b5fad --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_clothes.yaml @@ -0,0 +1,490 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_fold_clothes +dataset_uuid: 28dcbd54-ead7-4cfd-8605-9dd79f821d5a +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: t_shirt +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- use two grippers to hold the left and right sides of the clothes and fold the clothes + on the table three times. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: use the right arm to pull the right edge of the fabric to the left and + folds it over the left edge. + subtask_index: 1 +- subtask: use the right arm to clamp the right edge of the fabric. + subtask_index: 2 +- subtask: Use your right arm to clamp the cuff closest to him. + subtask_index: 3 +- subtask: use the right arm to pull and place the cuff at thecentered position on + the left edge of the fabric. + subtask_index: 4 +- subtask: use the right arm to pull the right edge of the fabric to the right and + folds it over the left edge. + subtask_index: 5 +- subtask: grasp the left edge of the fabric with your left arm. + subtask_index: 6 +- subtask: use the left arm to pull and drop the cuff onto the cuff closest to the + left arm. + subtask_index: 7 +- subtask: use the right arm to pull and drop the cuff onto the cuffclosest to the + right arm. + subtask_index: 8 +- subtask: Spread the clothes out flat on the table with both grippers. + subtask_index: 9 +- subtask: use both arms to pull the lower edge of the fabric forward and fold it + over the upper edge. + subtask_index: 10 +- subtask: use the left arm to pull and place the cuff at the centered position on + the left edge of the fabric. + subtask_index: 11 +- subtask: Abnormal. + subtask_index: 12 +- subtask: use both arms simultaneously to clamp the lower edge of the clothing fabric. + subtask_index: 13 +- subtask: use the left arm to clamp the cuff farthest from it. + subtask_index: 14 +- subtask: Use your right arm to clamp the cuff farthest to him. + subtask_index: 15 +- subtask: use the left arm to clamp the cuff closest to it. + subtask_index: 16 +- subtask: abnormal. + subtask_index: 17 +- subtask: pull the left edge of the fabric to the left with your left arm and fold + it to the right edge. + subtask_index: 18 +- subtask: Spread the long sleeves with your arms and place them on the tabletop. + subtask_index: 19 +- subtask: null. + subtask_index: 20 +atomic_actions: +- grasp +- fold +- press +- pick +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_front_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 584 + total_frames: 774487 + fps: 30 + total_tasks: 21 + total_videos: 1752 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 27.66 GB +frame_num: 774487 +frame_range: 1M +dataset_size: 27.66 GB +data_structure: 'Cobot_Magic_fold_clothes_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (572 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:583 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_jeans_shorts_children's.yaml b/dataset_info/Agilex_Cobot_Magic_fold_jeans_shorts_children's.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2e53eb4decc7e46ed265a9401a1791f6bf95abd9 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_jeans_shorts_children's.yaml @@ -0,0 +1,508 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_fold_jeans_shorts_children's +dataset_uuid: 2bc06e3c-fc72-45ad-bd89-8ca94645988e +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: denim_shorts +- object_name: green_tray +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Fold the children's denim shorts in half with the grippers, then fold them in half + again. Place the folded children's denim shorts on the tray with the left gripper. + again, and use the left claw to place the folded children's denim shorts on the + tray. +sub_tasks: +- subtask: Grasp the blue trousers with the right gripper. + subtask_index: 0 +- subtask: Fold the blue trousers upwards with the right gripper. + subtask_index: 1 +- subtask: Fold the blue trousers from right to left with the right gripper. + subtask_index: 2 +- subtask: Place the folded blue trousers on the green tray with the left gripper. + subtask_index: 3 +- subtask: Grasp the blue trousers with the left gripper. + subtask_index: 4 +- subtask: Fold the blue trousers upwards with the left gripper. + subtask_index: 5 +- subtask: Fold the blue trousers from left to right with the left gripper. + subtask_index: 6 +- subtask: end. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- lift +- place +- fold +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 60562 + fps: 30 + total_tasks: 9 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 912.51 MB +frame_num: 60562 +frame_range: 100K +dataset_size: 912.51 MB +data_structure: 'Agilex_Cobot_Magic_fold_jeans_shorts_children_s_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_short_sleeve_black.yaml b/dataset_info/Agilex_Cobot_Magic_fold_short_sleeve_black.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2718da39768363d2801882f180c10b5598e2e427 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_short_sleeve_black.yaml @@ -0,0 +1,495 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_fold_short_sleeve_black +dataset_uuid: 24a2a9e4-060c-4451-8c52-6c0c40cb2fa3 +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: black_T-shirt +- object_name: green_tray +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Fold the black short sleeve with two grippers, and place the folded black short + sleeve on the tray with the left claw. +sub_tasks: +- subtask: Lift the black T-shirt with the left gripper. + subtask_index: 0 +- subtask: Lift the black T-shirt with the right gripper. + subtask_index: 1 +- subtask: Grasp the black T-shirt with the left gripper. + subtask_index: 2 +- subtask: Fold the black T-shirt downward with the right gripper. + subtask_index: 3 +- subtask: Grasp the black T-shirt with the right gripper. + subtask_index: 4 +- subtask: Fold the black T-shirt downward with the left gripper. + subtask_index: 5 +- subtask: Fold the black T-shirt from right to left with right gripper. + subtask_index: 6 +- subtask: abnormal. + subtask_index: 7 +- subtask: end. + subtask_index: 8 +- subtask: Fold the black T-shirt from left to right with left gripper. + subtask_index: 9 +- subtask: Place the folded black T-shirt on the green tray with the left gripper. + subtask_index: 10 +- subtask: null. + subtask_index: 11 +atomic_actions: +- grasp +- lift +- place +- fold +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 76223 + fps: 30 + total_tasks: 12 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 999.69 MB +frame_num: 76223 +frame_range: 100K +dataset_size: 999.69 MB +data_structure: 'Agilex_Cobot_Magic_fold_short_sleeve_black_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_short_sleeve_white.yaml b/dataset_info/Agilex_Cobot_Magic_fold_short_sleeve_white.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1c62258e4b729f53b96ade37cc3056be0a58d0ac --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_short_sleeve_white.yaml @@ -0,0 +1,569 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_fold_short_sleeve_white +dataset_uuid: 774e7025-eb94-4c42-841f-ab64f9849b1f +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: white_T-shirt +- object_name: green_tray +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Fold the white short sleeve with two grippers, and place the folded white short + sleeve on the tray with the left claw. +sub_tasks: +- subtask: Lift the white T-shirt with the left gripper. + subtask_index: 0 +- subtask: Place the folded white T-shirt on the green tray with the left gripper. + subtask_index: 1 +- subtask: Fold the white T-shirt from left to right with left gripper. + subtask_index: 2 +- subtask: Fold the white T-shirt from right to left with right gripper. + subtask_index: 3 +- subtask: Grasp the white T-shirt with the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Fold the white T-shirt downward with the left gripper. + subtask_index: 6 +- subtask: Fold the white T-shirt downward with the right gripper. + subtask_index: 7 +- subtask: Lift the white T-shirt with the right gripper. + subtask_index: 8 +- subtask: Grasp the white T-shirt with the left gripper. + subtask_index: 9 +- subtask: null. + subtask_index: 10 +atomic_actions: +- grasp +- lift +- place +- fold +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 70709 + fps: 30 + total_tasks: 11 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 916.92 MB +frame_num: 70709 +frame_range: 100K +dataset_size: 916.92 MB +data_structure: 'Agilex_Cobot_Magic_fold_short_sleeve_white_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- debug + + | |-- episode_0000 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0001 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0002 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0003 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0004 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0005 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0006 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0007 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0008 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0009 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0010 + + | | |-- images + + | | `-- trace_report.md + + | `-- episode_0011 + + | |-- images + + | `-- trace_report.md + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_shorts_khaki.yaml b/dataset_info/Agilex_Cobot_Magic_fold_shorts_khaki.yaml new file mode 100644 index 0000000000000000000000000000000000000000..98bd9f49b017eebc2ec4b1a8c8d802822cb147b0 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_shorts_khaki.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_fold_shorts_khaki +dataset_uuid: badf13bf-e421-4740-86c4-c1d440d8b465 +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: khaki_shorts +- object_name: green_tray +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Fold the khaki jeans in half with the grippers, then fold them in half again. Place + the folded khaki jeans on the tray with the left gripper. +sub_tasks: +- subtask: Fold the khaki trousers from right to left with the right gripper. + subtask_index: 0 +- subtask: Fold the khaki trousers upwards with the right gripper. + subtask_index: 1 +- subtask: Fold the khaki trousers from left to right with the left gripper. + subtask_index: 2 +- subtask: Fold the khaki trousers upwards with the left gripper. + subtask_index: 3 +- subtask: Place the folded khaki trousers on the green tray with the left gripper. + subtask_index: 4 +- subtask: Grasp the khaki trousers with the left gripper. + subtask_index: 5 +- subtask: Grasp the khaki trousers with the right gripper. + subtask_index: 6 +- subtask: end. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- lift +- place +- fold +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 55392 + fps: 30 + total_tasks: 9 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 637.64 MB +frame_num: 55392 +frame_range: 100K +dataset_size: 637.64 MB +data_structure: 'Agilex_Cobot_Magic_fold_shorts_khaki_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_the_pants.yaml b/dataset_info/Agilex_Cobot_Magic_fold_the_pants.yaml new file mode 100644 index 0000000000000000000000000000000000000000..93c9e0323168ac374f813ae24b1e952905fdfe4c --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_the_pants.yaml @@ -0,0 +1,502 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_fold_the_pants +dataset_uuid: 2d20404b-b035-4962-9e8e-055858867cb3 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pants +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the pants with the back facing upwards and the cuffs facing to the left. Grasp + the cuffs with the left gripper and the leg with the right gripper, then fold it + forward. Lift the folded cuffs with the left gripper and fold them against the leg. + Adjust the position of the pants to the center of the table with the gripper. +- Place the pants with the back facing upwards and the cuffs facing to the right. + Grasp the cuffs with the right gripper. Grasp the leg with the left gripper and + fold it forward. Lift the folded cuffs with the right gripper and fold them against + the leg. Adjust the position of the pants to the center of the table with the gripper. +- Place the pants with the front facing upwards and the cuffs facing to the left. + Grasp the cuffs with the left gripper and the leg with the right gripper, then fold + it forward. Lift the folded cuffs with the left gripper and fold them against the + leg. Adjust the position of the pants to the center of the table with the gripper. +- Place the pants with the front facing upwards and the cuffs facing to the right. + Grasp the cuffs with the right gripper. Grasp the leg with the left gripper and + fold it forward. Lift the folded cuffs with the right gripper and fold them against + the leg. Adjust the position of the pants to the center of the table with the gripper. +- the left gripper grasp the cuffs, the right gripper grasp the leg and fold it forward, + the left gripper lift the folded cuffs and fold them against the leg, adjust the + position of the pants to the center of the table. +- the pants are placed with the back facing upwards, the cuffs facing to the right,the + right gripper grasp the cuffs, the left gripper grasp the leg and fold it forward,the + right gripper lift the folded cuffs and fold them against the leg, adjust the position + of the pants to the center of the table. +- the pants are placed with the front facing upwards, the cuffs facing to the left,the + left gripper grasp the cuffs, the right gripper grasp the leg and fold it forward,the + left gripper lift the folded cuffs and fold them against the leg, adjust the position + of the pants to the center of the table. +- the pants are placed with the front facing upwards, the cuffs facing to the right,the + right gripper grasp the cuffs, the left gripper grasp the leg and fold it forward,the + right gripper lift the folded cuffs and fold them against the leg, adjust the position + of the pants to the center of the table. +sub_tasks: +- subtask: Fold the bottom of the pants upward. + subtask_index: 0 +- subtask: Fold the pants from left to right. + subtask_index: 1 +- subtask: Fold your pants from right to left. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- fold +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 486 + total_frames: 402577 + fps: 30 + total_tasks: 4 + total_videos: 1458 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 8.48 GB +frame_num: 402577 +frame_range: 1M +dataset_size: 8.48 GB +data_structure: 'Split_aloha_fold_the_pants_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (473 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:485 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_towel.yaml b/dataset_info/Agilex_Cobot_Magic_fold_towel.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2b57633ee1e5278992eba6ff938737e9498af7a9 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_towel.yaml @@ -0,0 +1,501 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_fold_towel +dataset_uuid: 7bb04959-40ba-4ab5-aa4a-595c34cc3abc +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: white_towel +- object_name: orange_towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Fold the towels on the table with the gripper. +sub_tasks: +- subtask: Fold the white towel upwards with the right gripper. + subtask_index: 0 +- subtask: Grasp the orange towel with the left gripper. + subtask_index: 1 +- subtask: Grasp the orange towel with the right gripper. + subtask_index: 2 +- subtask: Fold the orange towel upwards with the right gripper. + subtask_index: 3 +- subtask: Fold the white towel upwards with the left gripper. + subtask_index: 4 +- subtask: Fold the orange towel from right to left with right gripper. + subtask_index: 5 +- subtask: Press on the orange towel with the left gripper. + subtask_index: 6 +- subtask: Fold the white towel from right to left with right gripper. + subtask_index: 7 +- subtask: End. + subtask_index: 8 +- subtask: Arrange the orange towel with the right gripper. + subtask_index: 9 +- subtask: Grasp the white towel with the right gripper. + subtask_index: 10 +- subtask: Fold the orange towel upwards with the left gripper. + subtask_index: 11 +- subtask: Grasp the white towel with the left gripper. + subtask_index: 12 +- subtask: Press on the white towel with the left gripper. + subtask_index: 13 +- subtask: null. + subtask_index: 14 +atomic_actions: +- grasp +- fold +- lift +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 76161 + fps: 30 + total_tasks: 15 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 834.61 MB +frame_num: 76161 +frame_range: 100K +dataset_size: 834.61 MB +data_structure: 'Agilex_Cobot_Magic_fold_towel_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_towel_blue.yaml b/dataset_info/Agilex_Cobot_Magic_fold_towel_blue.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83e9c580ccdb6cf1683a9d697b92f11a38c14756 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_towel_blue.yaml @@ -0,0 +1,493 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_fold_towel_blue +dataset_uuid: 60cf7d0f-2656-4819-baab-ce1b9ecb5bf1 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: blue_towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Fold the towels on the table with the gripper. +sub_tasks: +- subtask: 'Left gripper: adjust the brown towel.' + subtask_index: 0 +- subtask: 'Left gripper: adjust the blue towel.' + subtask_index: 1 +- subtask: 'Right gripper: adjust the blue towel.' + subtask_index: 2 +- subtask: 'Right gripper: pick up the bottom right corner of blue towel.' + subtask_index: 3 +- subtask: 'Left gripper: fold the blue towel from left to right.' + subtask_index: 4 +- subtask: 'Left gripper: fold the blue towel up.' + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: 'Right gripper: fold the blue towel up.' + subtask_index: 7 +- subtask: 'Right gripper: spread the blue towel flat on the table.' + subtask_index: 8 +- subtask: 'Left gripper: pick up the bottom left corner of blue towel.' + subtask_index: 9 +- subtask: null. + subtask_index: 10 +atomic_actions: +- grasp +- fold +- lift +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 185 + total_frames: 146917 + fps: 30 + total_tasks: 11 + total_videos: 555 + total_chunks: 1 + chunks_size: 10000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 10.04 GB +frame_num: 146917 +frame_range: 1M +dataset_size: 10.04 GB +data_structure: 'Agilex_Cobot_Magic_fold_towel_blue_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (173 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:184 +features: + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_right_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_towel_blue_tray.yaml b/dataset_info/Agilex_Cobot_Magic_fold_towel_blue_tray.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a4bd7dd9f169da418925aa21b0dbd961adbd86a --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_towel_blue_tray.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_fold_towel_blue_tray +dataset_uuid: f6af986b-77ef-4cd9-b913-2dd630e785d4 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: green_tray +- object_name: blue_square_towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the edge of the towel with both grippers and fold it forward. Grasp the right + edge and fold it again. Place the folded towel on the tray with a gripper. +sub_tasks: +- subtask: Fold the blue white towel upwards with the right gripper. + subtask_index: 0 +- subtask: Fold the blue white towel upwards with the left gripper. + subtask_index: 1 +- subtask: Grasp the blue white towel with the right gripper. + subtask_index: 2 +- subtask: Fold the blue white towel from right to left with right gripper. + subtask_index: 3 +- subtask: Grasp the blue white towel with the left gripper. + subtask_index: 4 +- subtask: end. + subtask_index: 5 +- subtask: Place the folded gray towel on the green tray with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- lift +- place +- fold +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 63491 + fps: 30 + total_tasks: 8 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 935.31 MB +frame_num: 63491 +frame_range: 100K +dataset_size: 935.31 MB +data_structure: 'Agilex_Cobot_Magic_fold_towel_blue_tray_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_towel_brown.yaml b/dataset_info/Agilex_Cobot_Magic_fold_towel_brown.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d62abfd0b6a00ff9d24426172eb9cc65db878eb6 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_towel_brown.yaml @@ -0,0 +1,496 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_fold_towel_brown +dataset_uuid: fc6e3f46-105a-456c-afc4-b3ca8e701857 +scene_type: + level1: household + level2: bathroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Fold the towel on the table three times with the grippers. +sub_tasks: +- subtask: 'Left gripper: adjust the brown towel.' + subtask_index: 0 +- subtask: 'Left gripper: spread the brown towel flat on the table.' + subtask_index: 1 +- subtask: 'Right gripper: spread the brown towel flat on the table.' + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: 'Left gripper: fold the brown towel from left to right.' + subtask_index: 4 +- subtask: 'Right gripper: pick up the bottom right corner of brown towel.' + subtask_index: 5 +- subtask: 'Right gripper: adjust the brown towel.' + subtask_index: 6 +- subtask: 'Left gripper: fold the brown towel up.' + subtask_index: 7 +- subtask: 'Right gripper: fold the brown towel up.' + subtask_index: 8 +- subtask: 'Left gripper: pick up the bottom left corner of brown towel.' + subtask_index: 9 +- subtask: null. + subtask_index: 10 +atomic_actions: +- grasp +- unfold +- fold +- pick +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 387 + total_frames: 283464 + fps: 30 + total_tasks: 11 + total_videos: 1161 + total_chunks: 1 + chunks_size: 10000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 18.63 GB +frame_num: 283464 +frame_range: 1M +dataset_size: 18.63 GB +data_structure: 'Agilex_Cobot_Magic_fold_towel_brown_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (375 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:386 + val: 334:376 + test: 376:417 +features: + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_towel_grey_tray.yaml b/dataset_info/Agilex_Cobot_Magic_fold_towel_grey_tray.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3706cce17b3fb30926ab5eaeb8bba69a4a0a65e0 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_towel_grey_tray.yaml @@ -0,0 +1,490 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_fold_towel_grey_tray +dataset_uuid: 7d892786-80a6-43e7-9959-c9a0079ecff8 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: green_tray +- object_name: grey_square_towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the edge of the towel with both grippers and fold it forward. Grasp the right + edge and fold it again. Place the folded towel on the tray with a gripper. gripper + to hold the right edge and fold it again,use a gripper to place the folded towel + on the tray. +sub_tasks: +- subtask: Fold the grey towel from left to right with left gripper. + subtask_index: 0 +- subtask: Place the folded grey towel on the tray with the right gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Fold the grey towel from right to left with right gripper. + subtask_index: 3 +- subtask: Fold the grey towel upwards. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Place the folded grey towel on the tray with the left gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- lift +- place +- fold +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 53308 + fps: 30 + total_tasks: 8 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 724.56 MB +frame_num: 53308 +frame_range: 100K +dataset_size: 724.56 MB +data_structure: 'Agilex_Cobot_Magic_fold_towel_grey_tray_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_towel_pink_tray.yaml b/dataset_info/Agilex_Cobot_Magic_fold_towel_pink_tray.yaml new file mode 100644 index 0000000000000000000000000000000000000000..54e3c21f03e9bc44e756262659d0e0a4058993bf --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_towel_pink_tray.yaml @@ -0,0 +1,481 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_fold_towel_pink_tray +dataset_uuid: 09d01c7a-32a8-4de7-b6dc-71c4f664ff81 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: green_tray +- object_name: pink_square_towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the edge of the towel with both grippers and fold it forward. Grasp the right + edge and fold it again. Place the folded towel on the tray with a gripper. +sub_tasks: +- subtask: Fold the pink towel upwards. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the folded pink towel on the tray with the left gripper. + subtask_index: 2 +- subtask: Fold the pink towel from right to left with right gripper. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- lift +- place +- fold +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 63678 + fps: 30 + total_tasks: 5 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 766.05 MB +frame_num: 63678 +frame_range: 100K +dataset_size: 766.05 MB +data_structure: 'Agilex_Cobot_Magic_fold_towel_pink_tray_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_towel_purple.yaml b/dataset_info/Agilex_Cobot_Magic_fold_towel_purple.yaml new file mode 100644 index 0000000000000000000000000000000000000000..06fae0770b9b476470e13b9b57e8045b6fba9ff9 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_towel_purple.yaml @@ -0,0 +1,496 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_fold_towel_purple +dataset_uuid: 22417619-aae5-4c2d-b18b-d07990f5fcac +scene_type: + level1: household + level2: bathroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Fold the towel on the table three times with the grippers. +sub_tasks: +- subtask: 'Right gripper: spread the purple towel flat on the table.' + subtask_index: 0 +- subtask: 'Left gripper: fold the purple towel up.' + subtask_index: 1 +- subtask: 'Right gripper: fold the purple towel up.' + subtask_index: 2 +- subtask: 'Left gripper: fold the purple towel from left to right.' + subtask_index: 3 +- subtask: 'Left gripper: adjust the purple towel.' + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: 'Left gripper: spread the purple towel flat on the table.' + subtask_index: 6 +- subtask: 'Right gripper: pick up the bottom right corner of purple towel.' + subtask_index: 7 +- subtask: 'Right gripper: adjust the purple towel.' + subtask_index: 8 +- subtask: 'Left gripper: pick up the bottom left corner of purple towel.' + subtask_index: 9 +- subtask: null. + subtask_index: 10 +atomic_actions: +- grasp +- unfold +- fold +- pick +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 175 + total_frames: 111222 + fps: 30 + total_tasks: 11 + total_videos: 525 + total_chunks: 1 + chunks_size: 10000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 7.28 GB +frame_num: 111222 +frame_range: 1M +dataset_size: 7.28 GB +data_structure: 'Agilex_Cobot_Magic_fold_towel_purple_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (163 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:174 + val: 175:197 + test: 197:219 +features: + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_towel_tray_twice.yaml b/dataset_info/Agilex_Cobot_Magic_fold_towel_tray_twice.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a144ad82f9cda5c867e766db90a1ba7054d6a862 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_towel_tray_twice.yaml @@ -0,0 +1,509 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_fold_towel_tray_twice +dataset_uuid: d4e9a4ab-1a29-4636-9bb8-1f5183e429d2 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: white_tray +- object_name: white_long_towel +- object_name: pink_long_towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Fold one towel by two grippers and place it on the tray with the grippers. Then + fold another towel by two grippers and place it on the folded towel with the grippers. +sub_tasks: +- subtask: Grasp the pink towel with the right gripper. + subtask_index: 0 +- subtask: Press the pink towel with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Fold the pink towel from right to left with right gripper. + subtask_index: 3 +- subtask: Place the pink towel on the white towel with the right gripper. + subtask_index: 4 +- subtask: Grasp the white towel with the left gripper. + subtask_index: 5 +- subtask: Move the pink towel to the plate with the right gripper. + subtask_index: 6 +- subtask: Abnormal. + subtask_index: 7 +- subtask: Press the white towel with the left gripper. + subtask_index: 8 +- subtask: Move the white towel to the plate with the right gripper. + subtask_index: 9 +- subtask: Grasp the white towel with the right gripper. + subtask_index: 10 +- subtask: Fold the pink towel upwards with the left gripper. + subtask_index: 11 +- subtask: Grasp the pink towel with the left gripper. + subtask_index: 12 +- subtask: Place the white towel on the pink towel with the left gripper. + subtask_index: 13 +- subtask: Fold the pink towel upwards with the right gripper. + subtask_index: 14 +- subtask: Fold the white towel upwards with the right gripper. + subtask_index: 15 +- subtask: Place the white towel on the pink towel with the right gripper. + subtask_index: 16 +- subtask: Fold the white towel upwards with the left gripper. + subtask_index: 17 +- subtask: Fold the white towel from right to left with right gripper. + subtask_index: 18 +- subtask: null. + subtask_index: 19 +atomic_actions: +- grasp +- fold +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 195 + total_frames: 305054 + fps: 30 + total_tasks: 20 + total_videos: 585 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 3.54 GB +frame_num: 305054 +frame_range: 1M +dataset_size: 3.54 GB +data_structure: 'Agilex_Cobot_Magic_fold_towel_tray_twice_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (183 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:194 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_towel_yellow_tray.yaml b/dataset_info/Agilex_Cobot_Magic_fold_towel_yellow_tray.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14b71d170a36a91b6234aaf9ed70eb0f4d28e510 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_towel_yellow_tray.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_fold_towel_yellow_tray +dataset_uuid: 2fa41899-f076-44f9-8096-de77fbd0858a +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: green_tray +- object_name: yellow_square_towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the edge of the towel with both grippers and fold it forward. Grasp the right + edge and fold it again. Place the folded towel on the tray with a gripper. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Fold the yellow towel upwards. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Fold the yellow towel from right to left with right gripper. + subtask_index: 3 +- subtask: Fold the yellow towel from left to right with left gripper. + subtask_index: 4 +- subtask: Place the folded yellow towel on the tray with the left gripper. + subtask_index: 5 +- subtask: Place the folded yellow towel on the tray with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- lift +- place +- fold +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 48960 + fps: 30 + total_tasks: 8 + total_videos: 147 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 552.42 MB +frame_num: 48960 +frame_range: 100K +dataset_size: 552.42 MB +data_structure: 'Agilex_Cobot_Magic_fold_towel_yellow_tray_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_heat_burger.yaml b/dataset_info/Agilex_Cobot_Magic_heat_burger.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ba8bdb08d65b70fd8361ba10be8cb77eeb6c0ae3 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_heat_burger.yaml @@ -0,0 +1,503 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_heat_burger +dataset_uuid: 943e9777-7526-4d63-8000-b8b9b20942f4 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: microwave_oven +- object_name: plate +- object_name: hamburger +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the microwave oven with the right gripper, place the hamburger inside, and + then rotate it off with the left gripper. Rotate the button of the microwave oven + with the right gripper to heat up the hamburger. Turn on the microwave oven, pick + up the hamburger and place it on the table, then rotate it off with the left gripper. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: 'Right gripper: pick up the plate with the hamburger.' + subtask_index: 1 +- subtask: 'Right gripper: place the plate on the table.' + subtask_index: 2 +- subtask: 'Right gripper: press the swap.' + subtask_index: 3 +- subtask: 'Right gripper: place the plate in the microwave.' + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: 'Right gripper: rotate timer button.' + subtask_index: 6 +- subtask: 'Left gripper: close the microwave door.' + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- pick +- place +- push +- rotate +- press +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 819 + total_frames: 2478415 + fps: 30 + total_tasks: 9 + total_videos: 2457 + total_chunks: 1 + chunks_size: 10000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 131.36 GB +frame_num: 2478469 +frame_range: 10M +dataset_size: 131.36 GB +data_structure: 'Agilex_Cobot_Magic_heat_burger_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (807 more entries) + + |-- logs + + | `-- collect + + | `-- collect_20260522122014.log + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:818 + val: 802:902 + test: 902:1003 +features: + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_heat_sandwich.yaml b/dataset_info/Agilex_Cobot_Magic_heat_sandwich.yaml new file mode 100644 index 0000000000000000000000000000000000000000..abc7b2ed12148e0f185f9c4e5e30b075b466fb97 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_heat_sandwich.yaml @@ -0,0 +1,492 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_heat_sandwich +dataset_uuid: ecebb15f-6434-4ba0-bb23-73f5be418b3b +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: microwave_oven +- object_name: plates +- object_name: sandwich +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Turn on the microwave oven with the gripper. Pick up the sandwich with the gripper + and place it inside. Turn off the microwave oven with the gripper. Rotate the microwave + oven button to heat up the sandwich with the gripper. Then turn on the microwave + oven with the gripper, pick up the sandwich with the gripper, and place it on the + table with the gripper. Turn off the microwave oven with the gripper again. +sub_tasks: +- subtask: 'Right gripper: place the plate on the table.' + subtask_index: 0 +- subtask: 'Right gripper: press the swap.' + subtask_index: 1 +- subtask: 'Right gripper: place the plate in the microwave.' + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: 'Right gripper: rotate timer button.' + subtask_index: 4 +- subtask: 'Right gripper: pick up the plate with the sandwich.' + subtask_index: 5 +- subtask: 'Left gripper: close the microwave door.' + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- lift +- place +- press +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 301 + total_frames: 979323 + fps: 30 + total_tasks: 8 + total_videos: 903 + total_chunks: 1 + chunks_size: 10000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 47.95 GB +frame_num: 979323 +frame_range: 1M +dataset_size: 47.95 GB +data_structure: 'Agilex_Cobot_Magic_heat_sandwich_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (289 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:300 +features: + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_right_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_make_sandwiche.yaml b/dataset_info/Agilex_Cobot_Magic_make_sandwiche.yaml new file mode 100644 index 0000000000000000000000000000000000000000..053706efc53afd931615893b244e58b3f4f6831e --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_make_sandwiche.yaml @@ -0,0 +1,531 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_make_sandwiche +dataset_uuid: 8c8eae1d-086d-4ef3-b908-bb55c1d82660 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plate +- object_name: storage_box +- object_name: bread +- object_name: cheese +- object_name: lettuce +- object_name: bacon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Make sandwiches with the food from the boxes on both sides, placing them in the + middle plate with the gripper. +sub_tasks: +- subtask: Left gripper:place the bread cut on the cheese cut. + subtask_index: 0 +- subtask: Right gripper:pick up the lettuce cut. + subtask_index: 1 +- subtask: Right gripper:pick up the bacon. + subtask_index: 2 +- subtask: Right gripper:place the cheese cut on top of the bacon. + subtask_index: 3 +- subtask: Left gripper:place bacon on bacon. + subtask_index: 4 +- subtask: Left gripper:pick up the bread cut. + subtask_index: 5 +- subtask: Right gripper:place bacon on lettuce cut. + subtask_index: 6 +- subtask: Right gripper:place the lettuce cut on the bread cut. + subtask_index: 7 +- subtask: Left gripper:Place the lettuce cut on the bread cut. + subtask_index: 8 +- subtask: Left gripper:place bacon on lettuce cut. + subtask_index: 9 +- subtask: Right gripper:place the bread cut on the cheese cut. + subtask_index: 10 +- subtask: Right gripper:place the bread cut on the plate. + subtask_index: 11 +- subtask: Left gripper:place the cheese cut on top of the bacon. + subtask_index: 12 +- subtask: Left gripper:pick up the cheese cut. + subtask_index: 13 +- subtask: Abnormal. + subtask_index: 14 +- subtask: Left gripper:Place the bread slices on the plate. + subtask_index: 15 +- subtask: Left gripper:place the lettuce cut on the bread cut. + subtask_index: 16 +- subtask: Left gripper:place the bread cut on the plate. + subtask_index: 17 +- subtask: Right gripper:pick up the cheese cut. + subtask_index: 18 +- subtask: Right gripper:pick up the bread cut. + subtask_index: 19 +- subtask: Left gripper:pick up the bacon. + subtask_index: 20 +- subtask: Left gripper:Place bacon on lettuce cut. + subtask_index: 21 +- subtask: End. + subtask_index: 22 +- subtask: Right gripper:place bacon on bacon. + subtask_index: 23 +- subtask: Left gripper:pick up the lettuce cut. + subtask_index: 24 +- subtask: Right gripper:Place the cheese cut on top of the bacon. + subtask_index: 25 +- subtask: null. + subtask_index: 26 +atomic_actions: +- grasp +- place +- pick +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 515 + total_frames: 813553 + fps: 30 + total_tasks: 27 + total_videos: 1545 + total_chunks: 1 + chunks_size: 10000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 53.82 GB +frame_num: 813553 +frame_range: 1M +dataset_size: 53.82 GB +data_structure: 'Agilex_Cobot_Magic_make_sandwiche_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (503 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:514 + val: 425:478 + test: 478:532 +features: + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_move_mouse.yaml b/dataset_info/Agilex_Cobot_Magic_move_mouse.yaml new file mode 100644 index 0000000000000000000000000000000000000000..60bc7d9ecd0791cf8cf280e2de47eda7086ed6b6 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_mouse.yaml @@ -0,0 +1,500 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_move_mouse +dataset_uuid: f3b727e5-e363-4a22-996e-b8f5281085ce +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: mouse +- object_name: mouse_pad +- object_name: table +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Organize the mouse on the mouse pad with the right gripper. +sub_tasks: +- subtask: Grasp the mouse with the left gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Grasp the mouse with the right gripper. + subtask_index: 2 +- subtask: Place the mouse on the mouse mat with the right gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Place the mouse on the mouse mat with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- lift +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 112 + total_frames: 49737 + fps: 30 + total_tasks: 7 + total_videos: 336 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 386.89 MB +frame_num: 49737 +frame_range: 100K +dataset_size: 386.89 MB +data_structure: 'Agilex_Cobot_Magic_move_mouse_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (100 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:111 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen.yaml b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen.yaml new file mode 100644 index 0000000000000000000000000000000000000000..92d3fb3695842cf016a5127d297fccff20b5fdeb --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen.yaml @@ -0,0 +1,494 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_move_mouse_pen +dataset_uuid: 224d3efa-c5ca-4c0a-a618-a09ef6e5c67e +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: deli_water-based_marker +- object_name: notebook +- object_name: mouse +- object_name: mouse_pad +- object_name: white_table_cloths +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Organize the pen on the notebook with the left gripper. Organize the mouse on the + mouse pad with the right gripper. +sub_tasks: +- subtask: Grasp the mouse with the left gripper. + subtask_index: 0 +- subtask: Grasp the marker with the left gripper. + subtask_index: 1 +- subtask: Grasp the mouse with the right gripper. + subtask_index: 2 +- subtask: Place the mouse on the mouse pad with the right gripper. + subtask_index: 3 +- subtask: Place the marker on the notebook with the right gripper. + subtask_index: 4 +- subtask: Grasp the marker with the right gripper. + subtask_index: 5 +- subtask: end. + subtask_index: 6 +- subtask: Place the mouse on the mouse pad with the left gripper. + subtask_index: 7 +- subtask: Place the marker on the notebook with the left gripper. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- lift +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 30 + total_frames: 22756 + fps: 30 + total_tasks: 10 + total_videos: 90 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 276.67 MB +frame_num: 22756 +frame_range: 100K +dataset_size: 276.67 MB +data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (18 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:29 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..032ba3b2bf30921ca620179117287d28405c59fc --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth.yaml @@ -0,0 +1,497 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth +dataset_uuid: 069c7db9-d2a3-40a2-b8bc-3fc254310ae0 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: deli_water_based_marker +- object_name: notebook +- object_name: mouse +- object_name: mouse_pad +- object_name: black_table_cloths +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Organize the pen on the notebook with the left gripper. Organize the mouse on the + mouse pad with the right gripper. +sub_tasks: +- subtask: Right gripper. + subtask_index: 0 +- subtask: Pick up the mouse with right gripper. + subtask_index: 1 +- subtask: Pick up the marker pen with right gripper. + subtask_index: 2 +- subtask: Pick up the mouse with left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Place the marker pen on the notebook with right gripper. + subtask_index: 5 +- subtask: Place the mouse on the mouse pad with left gripper. + subtask_index: 6 +- subtask: Place the marker pen on the notebook with left gripper. + subtask_index: 7 +- subtask: Left gripper. + subtask_index: 8 +- subtask: Pick up the marker pen with left gripper. + subtask_index: 9 +- subtask: Place the mouse on the mouse pad with right gripper. + subtask_index: 10 +- subtask: null. + subtask_index: 11 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 30 + total_frames: 20668 + fps: 30 + total_tasks: 12 + total_videos: 90 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 513.70 MB +frame_num: 20668 +frame_range: 100K +dataset_size: 513.70 MB +data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (18 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:29 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f7f87d1795de9b9d136beeabbdbeb1943983b332 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth.yaml @@ -0,0 +1,493 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth +dataset_uuid: 7808fd13-2ecf-46e5-8d78-5a2071cf6f84 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: deli_water_based_marker +- object_name: notebook +- object_name: mouse +- object_name: mouse_pad +- object_name: green_table_cloths +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Organize the pen on the notebook with the left gripper. Organize the mouse on the + mouse pad with the right gripper. +sub_tasks: +- subtask: Place the mouse on the mouse pad with the left gripper. + subtask_index: 0 +- subtask: Grasp the marker with the left gripper. + subtask_index: 1 +- subtask: Grasp the mouse with the right gripper. + subtask_index: 2 +- subtask: Place the mouse on the mouse pad with the right gripper. + subtask_index: 3 +- subtask: Place the marker on the notebook with the right gripper. + subtask_index: 4 +- subtask: Grasp the marker with the right gripper. + subtask_index: 5 +- subtask: Grasp the mouse with the left gripper. + subtask_index: 6 +- subtask: end. + subtask_index: 7 +- subtask: Place the marker on the notebook with the left gripper. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 30 + total_frames: 19527 + fps: 30 + total_tasks: 10 + total_videos: 90 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 316.01 MB +frame_num: 19527 +frame_range: 100K +dataset_size: 316.01 MB +data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (18 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:29 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83ecb864d5f90ed36d3bdfa2ef8d144ed9e49cf0 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth.yaml @@ -0,0 +1,493 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth +dataset_uuid: a28a40f9-b736-4081-9951-278f68430846 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: deli_water_based_marker +- object_name: notebook +- object_name: mouse +- object_name: mouse_pad +- object_name: khaki_table_cloths +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Organize the pen on the notebook with the left gripper. Organize the mouse on the + mouse pad with the right gripper. +sub_tasks: +- subtask: Grasp the mouse with the left gripper. + subtask_index: 0 +- subtask: Grasp the marker with the left gripper. + subtask_index: 1 +- subtask: Grasp the mouse with the right gripper. + subtask_index: 2 +- subtask: Place the mouse on the mouse pad with the right gripper. + subtask_index: 3 +- subtask: Place the marker on the notebook with the right gripper. + subtask_index: 4 +- subtask: Grasp the marker with the right gripper. + subtask_index: 5 +- subtask: end. + subtask_index: 6 +- subtask: Place the mouse on the mouse pad with the left gripper. + subtask_index: 7 +- subtask: Place the marker on the notebook with the left gripper. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 30 + total_frames: 20954 + fps: 30 + total_tasks: 10 + total_videos: 90 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 347.28 MB +frame_num: 20954 +frame_range: 100K +dataset_size: 347.28 MB +data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (18 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:29 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e02511e4cf47530549a017fdc4725a4b3dabf464 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth.yaml @@ -0,0 +1,497 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth +dataset_uuid: e6ba1054-6fe4-4709-8994-e881f3fd51b9 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: deli_water-based_marker +- object_name: notebook +- object_name: mouse +- object_name: mouse_pad +- object_name: red_table_cloths +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Organize the pen on the notebook with the left gripper. Organize the mouse on the + mouse pad with the right gripper. +sub_tasks: +- subtask: Right gripper. + subtask_index: 0 +- subtask: Pick up the mouse with right gripper. + subtask_index: 1 +- subtask: Pick up the marker pen with right gripper. + subtask_index: 2 +- subtask: Pick up the mouse with left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Place the marker pen on the notebook with right gripper. + subtask_index: 5 +- subtask: Place the mouse on the mouse pad with left gripper. + subtask_index: 6 +- subtask: Place the marker pen on the notebook with left gripper. + subtask_index: 7 +- subtask: Left gripper. + subtask_index: 8 +- subtask: Pick up the marker pen with left gripper. + subtask_index: 9 +- subtask: Place the mouse on the mouse pad with right gripper. + subtask_index: 10 +- subtask: null. + subtask_index: 11 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 30 + total_frames: 20689 + fps: 30 + total_tasks: 12 + total_videos: 90 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 664.79 MB +frame_num: 20689 +frame_range: 100K +dataset_size: 664.79 MB +data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (18 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:29 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_move_object.yaml b/dataset_info/Agilex_Cobot_Magic_move_object.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3351f3c58b48551fb2cc6173e8fe16c298c81dbc --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_object.yaml @@ -0,0 +1,1083 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_move_object +dataset_uuid: 10412bef-73a1-4537-8220-6e44143965e5 +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bowl +- object_name: pink_long_towel +- object_name: blue_long_towel +- object_name: round_plate +- object_name: rectangular_plate +- object_name: pot_spoon +- object_name: wok +- object_name: corn +- object_name: egg_tart +- object_name: egg_yolk_pastries +- object_name: coffee capsule +- object_name: coke (bottled) +- object_name: red_bull_canned_drink +- object_name: yibao +- object_name: mango +- object_name: eastern_leaves +- object_name: purple_incense +- object_name: duck +- object_name: toothpaste +- object_name: deli_water-based_marker +- object_name: bouncy_ball +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- The gripper move the object. +sub_tasks: +- subtask: Grasp the coffee capsule with the right gripper + subtask_index: 0 +- subtask: Grasp the toothpaste with the left gripper + subtask_index: 1 +- subtask: Grasp the YiBao mineral water with the right gripper + subtask_index: 2 +- subtask: Place the toothpaste on the table with the left gripper + subtask_index: 3 +- subtask: Place the corn into the green plate with the right gripper + subtask_index: 4 +- subtask: Place the egg tart into the pink plate with the right gripper + subtask_index: 5 +- subtask: Grasp the blue towel with the left gripper + subtask_index: 6 +- subtask: Place the blue bowl into the green plate with the right gripper + subtask_index: 7 +- subtask: Place the mango into the blue bowl with the left gripper + subtask_index: 8 +- subtask: Grasp the egg tart with the left gripper + subtask_index: 9 +- subtask: Place the USB box on the table with the left gripper + subtask_index: 10 +- subtask: Place the pink pot on the table with the left gripper + subtask_index: 11 +- subtask: Place the red marker pen on the table with the right gripper + subtask_index: 12 +- subtask: Place the Jia Duo Bao into the green bowl with the left gripper + subtask_index: 13 +- subtask: Place the colorful ball into the pink pot with the right gripper + subtask_index: 14 +- subtask: Place the coffee capsule into the pink pot with the left gripper + subtask_index: 15 +- subtask: Grasp the black box with the left gripper + subtask_index: 16 +- subtask: Place the colorful ball into the pink plate with the right gripper + subtask_index: 17 +- subtask: Grasp the blue bowl with the right gripper + subtask_index: 18 +- subtask: Place the shampoo into the pink plate with the left gripper + subtask_index: 19 +- subtask: Place the red bull into the pink pot with the right gripper + subtask_index: 20 +- subtask: Place the pink towel into the green plate with the right gripper + subtask_index: 21 +- subtask: Place the pink plate on the table with the left gripper + subtask_index: 22 +- subtask: Place the egg tart into the green bowl with the right gripper + subtask_index: 23 +- subtask: Grasp the Incense box with the right gripper + subtask_index: 24 +- subtask: Place the shampoo into the green plate with the left gripper + subtask_index: 25 +- subtask: Place the mango into the blue bowl with the left gripper + subtask_index: 26 +- subtask: Place the USB boxon the table with the left gripper + subtask_index: 27 +- subtask: Place the cooking shovel on the table with the left gripper + subtask_index: 28 +- subtask: Grasp the USB box with the right gripper + subtask_index: 29 +- subtask: Place the XX on the table with the left gripper + subtask_index: 30 +- subtask: Place the toothpaste on the table with the right gripper + subtask_index: 31 +- subtask: Place the colorful ball on the table with the left gripper + subtask_index: 32 +- subtask: Place the YiBao mineral water on the table with the left gripper + subtask_index: 33 +- subtask: Place the blue towel into the green plate with the left gripper + subtask_index: 34 +- subtask: Place the corn into the pink plate with the right gripper + subtask_index: 35 +- subtask: Grasp the green bowl with the right gripper + subtask_index: 36 +- subtask: Place the mango into the pink pot with the right gripper + subtask_index: 37 +- subtask: Place the coffee capsule into the pink plate with the right gripper + subtask_index: 38 +- subtask: Place the coffee capsule into the pink pot with the right gripper + subtask_index: 39 +- subtask: Place the red bull into the green bowl with the right gripper + subtask_index: 40 +- subtask: Place the mango into the green plate with the left gripper + subtask_index: 41 +- subtask: Place the green bowl on the table with the right gripper + subtask_index: 42 +- subtask: Place the brown box into the green bowl with the right gripper + subtask_index: 43 +- subtask: Place the colorful ball into the blue bowl with the left gripper + subtask_index: 44 +- subtask: Place the shampoo on the table with the left gripper + subtask_index: 45 +- subtask: Grasp the toothpaste with the right gripper + subtask_index: 46 +- subtask: Place the red bull into the green plate with the right gripper + subtask_index: 47 +- subtask: Grasp the coffee capsule with the left grippe + subtask_index: 48 +- subtask: Grasp the Luckin Coffee box with the left gripper + subtask_index: 49 +- subtask: Place the mango into the pink pot with the left gripper + subtask_index: 50 +- subtask: Place the coffee capsule into the green plate with the right gripper + subtask_index: 51 +- subtask: Place the persimmon into the pink pot with the left gripper + subtask_index: 52 +- subtask: Place the shampoo into the pink plate with the right gripper + subtask_index: 53 +- subtask: Place the corn on the table with the right gripper + subtask_index: 54 +- subtask: Grasp the coffee capsule with the left gripper + subtask_index: 55 +- subtask: Grasp the pink pot with the left gripper + subtask_index: 56 +- subtask: Place the mango on the table with the left gripper + subtask_index: 57 +- subtask: Place the egg tart on the table with the left gripper + subtask_index: 58 +- subtask: Place the shampoo into the blue bowl with the right gripper + subtask_index: 59 +- subtask: Grasp the USB box with the right gripper + subtask_index: 60 +- subtask: Place the coke into the green plate with the left gripper + subtask_index: 61 +- subtask: Place the egg yolk pastry into the blue bowl with the left gripper + subtask_index: 62 +- subtask: Place the Incense box into the pink plate with the right gripper + subtask_index: 63 +- subtask: Place the pink pot on the table with the left gripper + subtask_index: 64 +- subtask: Place the blue towel on the table with the left gripper + subtask_index: 65 +- subtask: Grasp the Luckin Coffee box with the right gripper + subtask_index: 66 +- subtask: Place the cooking shovel into the pink pot with the right gripper + subtask_index: 67 +- subtask: Place the Incense box into the pink plate with the left gripper + subtask_index: 68 +- subtask: Grasp the egg yolk pastry with the right gripper + subtask_index: 69 +- subtask: Grasp the red marker pen with the left gripper + subtask_index: 70 +- subtask: Grasp the USB box with the left gripper + subtask_index: 71 +- subtask: Place the Jia Duo Bao into the blue bowl with the left gripper + subtask_index: 72 +- subtask: Place the egg yolk pastry into the green bowl with the left gripper + subtask_index: 73 +- subtask: Place the red bull into the pink plate with the left gripper + subtask_index: 74 +- subtask: Place the pink pot into the green plate with the left gripper + subtask_index: 75 +- subtask: Place the red bull on the table with the right gripper + subtask_index: 76 +- subtask: Grasp the coke with the left gripper + subtask_index: 77 +- subtask: Grasp the corn with the right gripper + subtask_index: 78 +- subtask: Place the cooking shovel into the green bowl with the right gripper + subtask_index: 79 +- subtask: Place the corn on the table with the left gripper + subtask_index: 80 +- subtask: Place the red bull into the blue bowl with the left gripper + subtask_index: 81 +- subtask: Place the pink pot into the blue bowl with the right gripper + subtask_index: 82 +- subtask: Place the XX into the green plate with the left gripper + subtask_index: 83 +- subtask: Place the YiBao mineral water into the blue bowl with the right gripper + subtask_index: 84 +- subtask: Grasp the coke with the right gripper + subtask_index: 85 +- subtask: Place the mango into the pink plate with the right gripper + subtask_index: 86 +- subtask: Place the egg tart into the green plate with the left gripper + subtask_index: 87 +- subtask: Place the cooking shovel on the table with the right gripper + subtask_index: 88 +- subtask: Place the red marker pen into the pink plate with the right gripper + subtask_index: 89 +- subtask: Place the Incense box on the table with the right gripper + subtask_index: 90 +- subtask: Place the colorful ball into the blue bowl with the right gripper + subtask_index: 91 +- subtask: Place the XX into the pink pot with the left gripper + subtask_index: 92 +- subtask: Place the blue bowl into the pink plate with the left gripper + subtask_index: 93 +- subtask: Place the mango on the table with the left gripper + subtask_index: 94 +- subtask: Place the blue bowl into the blue bowl with the left gripper + subtask_index: 95 +- subtask: Place the red marker pen into the green plate with the right gripper + subtask_index: 96 +- subtask: Place the corn into the pink plate with the left gripper + subtask_index: 97 +- subtask: Grasp the brown box with the right gripper + subtask_index: 98 +- subtask: Place the Incense box into the pink pot with the left gripper + subtask_index: 99 +- subtask: Place the USB box on the table with the left gripper + subtask_index: 100 +- subtask: Place the coke on the table with the left gripper + subtask_index: 101 +- subtask: Place the colorful ball into the pink plate with the right gripper + subtask_index: 102 +- subtask: Grasp the egg yolk pastry with the right gripper + subtask_index: 103 +- subtask: Place the egg tart into the pink pot with the left gripper + subtask_index: 104 +- subtask: Place the Luckin Coffee box into the pink plate with the left gripper + subtask_index: 105 +- subtask: Place the shampoo on the table with the left gripper + subtask_index: 106 +- subtask: Place the egg tart on the table with the left gripper + subtask_index: 107 +- subtask: Grasp the Jia Duo Baowith the right gripper + subtask_index: 108 +- subtask: Place the XX into the blue bowl with the right gripper + subtask_index: 109 +- subtask: Grasp the red duck with the left gripper + subtask_index: 110 +- subtask: Place the pink towel into the pink plate with the left gripper + subtask_index: 111 +- subtask: Place the blue towel on the table with the left gripper + subtask_index: 112 +- subtask: Place the black box on the table with the right gripper + subtask_index: 113 +- subtask: Place the blue bowl on the table with the right gripper + subtask_index: 114 +- subtask: Place the YiBao mineral water on the table with the right gripper + subtask_index: 115 +- subtask: Place the shampoo into the blue bowl with the right gripper + subtask_index: 116 +- subtask: Abnormal + subtask_index: 117 +- subtask: Place the egg yolk pastry into the pink pot with the right gripper + subtask_index: 118 +- subtask: Grasp the xx with the left gripper + subtask_index: 119 +- subtask: Place the Incense box into the pink pot with the right gripper + subtask_index: 120 +- subtask: Grasp the egg yolk pastry with the left gripper + subtask_index: 121 +- subtask: Place the YiBao mineral water into the green plate with the right gripper + subtask_index: 122 +- subtask: Place the pink pot on the table with the right gripper + subtask_index: 123 +- subtask: Place the colorful ball into the green plate with the left gripper + subtask_index: 124 +- subtask: Place the blue towel on the table with the left gripper + subtask_index: 125 +- subtask: Place the egg tart into the blue bowl with the left gripper + subtask_index: 126 +- subtask: Place the cooking shovel into the blue bowl with the left gripper + subtask_index: 127 +- subtask: Place the blue towel into the green plate with the right gripper + subtask_index: 128 +- subtask: 'Grasp the egg yolk pastry with the left gripper + + ' + subtask_index: 129 +- subtask: Place the pink pot into the green plate with the right gripper + subtask_index: 130 +- subtask: Grasp the mango with the left gripper + subtask_index: 131 +- subtask: Grasp the YiBao mineral water with the left gripper + subtask_index: 132 +- subtask: Place the pink towel into the pink plate with the right gripper + subtask_index: 133 +- subtask: Grasp the blue towel with the left gripper + subtask_index: 134 +- subtask: Place the USB box on the table with the left gripper + subtask_index: 135 +- subtask: Place the pink towel into the green bowl with the right gripper + subtask_index: 136 +- subtask: Place the Jia Duo Bao on the table with the right gripper + subtask_index: 137 +- subtask: Place the USB box on the table with the right gripper + subtask_index: 138 +- subtask: Grasp the persimmon with the left gripper + subtask_index: 139 +- subtask: Place the egg yolk pastry into the pink plate with the right gripper + subtask_index: 140 +- subtask: Grasp the red bull with the left gripper + subtask_index: 141 +- subtask: Grasp the XX with the left gripper + subtask_index: 142 +- subtask: Place the shampoo into the green bowl with the left gripper + subtask_index: 143 +- subtask: Place the mango into the pink plate with the left gripper + subtask_index: 144 +- subtask: Place the blue towel on the table with the left gripper + subtask_index: 145 +- subtask: Grasp the red bull with the right gripper + subtask_index: 146 +- subtask: Grasp the cooking shovel with the right gripper + subtask_index: 147 +- subtask: Grasp the black box with the right gripper + subtask_index: 148 +- subtask: Place the green bowl on the table with the left gripper + subtask_index: 149 +- subtask: Place the cooking shovel into the green plate with the right gripper + subtask_index: 150 +- subtask: Place the cooking shovel into the blue bowl with the right gripper + subtask_index: 151 +- subtask: Grasp the Incense box with the left gripper + subtask_index: 152 +- subtask: Grasp the colorful ball with the left gripper + subtask_index: 153 +- subtask: Place the Incense box on the table with the left gripper + subtask_index: 154 +- subtask: Place the mango into the blue bowl with the right gripper + subtask_index: 155 +- subtask: Place the YiBao mineral water into the pink plate with the left gripper + subtask_index: 156 +- subtask: Grasp the pink towel with the left gripper + subtask_index: 157 +- subtask: Place the XX on the table with the right gripper + subtask_index: 158 +- subtask: Place the egg yolk pastry into the pink pot with the left gripper + subtask_index: 159 +- subtask: Place the coffee capsule into the pink plate with the left gripper + subtask_index: 160 +- subtask: Grasp the green bowl with the left gripper + subtask_index: 161 +- subtask: Grasp the Luckin Coffee box with the right gripper + subtask_index: 162 +- subtask: Place the egg tart on the table with the right gripper + subtask_index: 163 +- subtask: Place the Jia Duo Bao on the table with the left gripper + subtask_index: 164 +- subtask: Place the toothpaste on the table with the left gripper + subtask_index: 165 +- subtask: Place the brown box into the green plate with the left gripper + subtask_index: 166 +- subtask: Place the red marker pen into the green plate with the left gripper + subtask_index: 167 +- subtask: Place the colorful ball on the table with the left gripper + subtask_index: 168 +- subtask: Place the red bull on the table with the left gripper + subtask_index: 169 +- subtask: Grasp the blue towel with the left gripper + subtask_index: 170 +- subtask: Place the blue towel into the green bowl with the right gripper + subtask_index: 171 +- subtask: Place the coffee capsule into the blue bowl with the right gripper + subtask_index: 172 +- subtask: Grasp the mango with the right gripper + subtask_index: 173 +- subtask: Place the coke into the green plate with the right gripper + subtask_index: 174 +- subtask: Place the egg yolk pastry into the pink plate with the left gripper + subtask_index: 175 +- subtask: Place the YiBao mineral water on the table with the left gripper + subtask_index: 176 +- subtask: Place the coffee capsule on the table with the left gripper + subtask_index: 177 +- subtask: Place the XX into the green plate with the right gripper + subtask_index: 178 +- subtask: Place the Jia Duo Bao into the green plate with the right gripper + subtask_index: 179 +- subtask: Place the pink towel on the table with the right gripper + subtask_index: 180 +- subtask: Place the USB box on the table with the right gripper + subtask_index: 181 +- subtask: Place the egg yolk pastry on the table with the right gripper + subtask_index: 182 +- subtask: Place the Jia Duo Bao into the pink plate with the left gripper + subtask_index: 183 +- subtask: Place the black box on the table with the left gripper + subtask_index: 184 +- subtask: Grasp the pink plate with the left gripper + subtask_index: 185 +- subtask: Place the coffee capsule on the table with the right gripper + subtask_index: 186 +- subtask: Place the mango on the table with the right gripper + subtask_index: 187 +- subtask: Grasp the corn with the left gripper + subtask_index: 188 +- subtask: Place the shampoo on the table with the right gripper + subtask_index: 189 +- subtask: Place the Jia Duo Bao into the pink plate with the right gripper + subtask_index: 190 +- subtask: Place the pink towel into the green plate with the left gripper + subtask_index: 191 +- subtask: Place the egg yolk pastry into the green bowl with the right gripper + subtask_index: 192 +- subtask: Place the red bull into the blue bowl with the right gripper + subtask_index: 193 +- subtask: Place the cooking shovel into the green bowl with the right gripper + subtask_index: 194 +- subtask: Grasp the XX with the right gripper + subtask_index: 195 +- subtask: Place the brown box into the green plate with the left gripper + subtask_index: 196 +- subtask: Place the blue towel on the table with the right gripper + subtask_index: 197 +- subtask: Grasp the cooking shovel with the left gripper + subtask_index: 198 +- subtask: Grasp the cooking shovel with the left gripper + subtask_index: 199 +- subtask: Place the red marker pen on the table with the left gripper + subtask_index: 200 +- subtask: Place the XX into the pink plate with the right gripper + subtask_index: 201 +- subtask: Place the Incense box into the green plate with the right gripper + subtask_index: 202 +- subtask: Place the pink towel on the table with the left gripper + subtask_index: 203 +- subtask: Place the cooking shovel on the table with the right gripper + subtask_index: 204 +- subtask: Grasp the red marker pen with the right gripper + subtask_index: 205 +- subtask: Place the XX into the pink plate with the left gripper + subtask_index: 206 +- subtask: Grasp the colorful ball with the right gripper + subtask_index: 207 +- subtask: Place the egg yolk pastry into the blue bowl with the left gripper + subtask_index: 208 +- subtask: Place the coke on the table with the left gripper + subtask_index: 209 +- subtask: Place the blue bowl into the green plate with the left gripper + subtask_index: 210 +- subtask: Place the Incense box into the blue bowl with the left gripper + subtask_index: 211 +- subtask: Place the cooking shovel into the green plate with the left gripper + subtask_index: 212 +- subtask: Place the colorful ball on the table with the left gripper + subtask_index: 213 +- subtask: Place the egg yolk pastry into the green plate with the right gripper + subtask_index: 214 +- subtask: Grasp the red marker pen cwith the right gripper + subtask_index: 215 +- subtask: Grasp the pink towel with the right gripper + subtask_index: 216 +- subtask: Grasp the shampoo with the left gripper + subtask_index: 217 +- subtask: Place the brown box the table with the right gripper + subtask_index: 218 +- subtask: Place the YiBao mineral water into the pink plate with the right gripper + subtask_index: 219 +- subtask: Grasp the Jia Duo Bao with the right gripper + subtask_index: 220 +- subtask: Place the colorful ball into the pink plate with the left gripper + subtask_index: 221 +- subtask: Place the egg yolk pastry into the blue bowl with the right gripper + subtask_index: 222 +- subtask: Place the egg tart into the pink pot with the left gripper + subtask_index: 223 +- subtask: Grasp the egg tart with the right gripper + subtask_index: 224 +- subtask: Place the xx into the pink plate with the left gripper + subtask_index: 225 +- subtask: Place the red duck on the table with the left gripper + subtask_index: 226 +- subtask: Grasp the Jia Duo Bao with the left gripper + subtask_index: 227 +- subtask: Place the Incense box into the pink plate with the left gripper + subtask_index: 228 +- subtask: Place the egg tart on the table with the left gripper + subtask_index: 229 +- subtask: Grasp the Jia Duo Bao with the left gripper + subtask_index: 230 +- subtask: Place the Incense box on the table with the left gripper + subtask_index: 231 +- subtask: Place the Luckin Coffee box on the table with the left gripper + subtask_index: 232 +- subtask: Place the coke on the table with the right gripper + subtask_index: 233 +- subtask: Place the pink towel on the table with the left gripper + subtask_index: 234 +- subtask: Place the red bull into the pink plate with the left gripper + subtask_index: 235 +- subtask: Place the coffee capsule into the green plate with the left gripper + subtask_index: 236 +- subtask: Place the blue towel into the green plate with the left gripper + subtask_index: 237 +- subtask: Place the shampoo into the green plate with the right gripper + subtask_index: 238 +- subtask: Place the mango into the green plate with the right gripper + subtask_index: 239 +- subtask: Place the colorful ball into the pink pot with the left gripper + subtask_index: 240 +- subtask: Place the Jia Duo Bao into the blue bowl with the right gripper + subtask_index: 241 +- subtask: Grasp the USB box with the left gripper + subtask_index: 242 +- subtask: Place the Jia Duo Bao into the green plate with the left gripper + subtask_index: 243 +- subtask: Place the corn into the green plate with the left gripper + subtask_index: 244 +- subtask: Place the Luckin Coffee box on the table with the left gripper + subtask_index: 245 +- subtask: Place the Jia Duo Bao into the pink pot with the right gripper + subtask_index: 246 +- subtask: Place the egg tart into the pink plate with the left gripper + subtask_index: 247 +- subtask: Place the blue square on the table with the right gripper + subtask_index: 248 +- subtask: Place the red marker pen into the blue bowl with the right gripper + subtask_index: 249 +- subtask: Grasp the red bull with the right gripper + subtask_index: 250 +- subtask: Place the Luckin Coffee box on the table with the right gripper + subtask_index: 251 +- subtask: Place the egg tart into the pink pot with the right gripper + subtask_index: 252 +- subtask: Place the colorful ball into the green bowl with the left gripper + subtask_index: 253 +- subtask: Grasp the blue towel with the right gripper + subtask_index: 254 +- subtask: Place the egg tart into the green bowl with the left gripper + subtask_index: 255 +- subtask: Place the Luckin Coffee box on the table with the right gripper + subtask_index: 256 +- subtask: Grasp the brown box with the left gripper + subtask_index: 257 +- subtask: Place the brown box on the table with the left gripper + subtask_index: 258 +- subtask: Place the brown box on the table with the right gripper + subtask_index: 259 +- subtask: Place the corn on the table with the left gripper + subtask_index: 260 +- subtask: Grasp the shampoo with the right gripper + subtask_index: 261 +- subtask: Place the blue bowl on the table with the left gripper + subtask_index: 262 +- subtask: End + subtask_index: 263 +- subtask: Place the Jia Duo Bao into the green bowl with the right gripper + subtask_index: 264 +- subtask: Place the colorful ball on the table with the right gripper + subtask_index: 265 +- subtask: Place the coke into the blue bowl with the left gripper + subtask_index: 266 +- subtask: Grasp the blue square with the right gripper + subtask_index: 267 +- subtask: Place the coke into the pink pot with the left gripper + subtask_index: 268 +- subtask: Grasp the blue bowl with the left gripper + subtask_index: 269 +- subtask: Place the egg yolk pastry on the table with the left gripper + subtask_index: 270 +- subtask: Place the egg yolk pastry on the table with the left gripper + subtask_index: 271 +- subtask: Grasp the pink pot with the right gripper + subtask_index: 272 +- subtask: 'null' + subtask_index: 273 +atomic_actions: +- grasp +- lift +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 1163 + total_frames: 478405 + fps: 30 + total_tasks: 274 + total_videos: 3489 + total_chunks: 2 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 5.45 GB +frame_num: 478405 +frame_range: 1M +dataset_size: 5.45 GB +data_structure: 'Agilex_Cobot_Magic_move_object_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (151 more entries) + + |-- logs + + | `-- collect + + | |-- collect_20260521215548.log + + | `-- collect_20260521220240.log + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | |-- chunk-000 + + | | |-- observation.images.cam_head_rgb + + | | |-- observation.images.cam_left_wrist_rgb + + | | `-- observation.images.cam_right_wrist_rgb + + | `-- chunk-001 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:1162 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_move_object_beige_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_object_beige_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..675acef703381313d6fb58d9ac7ae86f44ed1290 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_object_beige_tablecloth.yaml @@ -0,0 +1,524 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_move_object_beige_tablecloth +dataset_uuid: dcdee278-471f-4c8a-96bc-048558df1981 +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: white_table_cloths +- object_name: waffle +- object_name: green_lemon +- object_name: eggplant +- object_name: chewing_gum +- object_name: chocolate +- object_name: mango +- object_name: chewing_gum +- object_name: mint_candy +- object_name: mangosteen +- object_name: orange +- object_name: bread +- object_name: banana +- object_name: cake +- object_name: beef_cheeseburger +- object_name: bowl +- object_name: pan +- object_name: small_teapot +- object_name: small_teacup +- object_name: paper_ball +- object_name: brown_square_towel +- object_name: black_cylindrical_pen_holder +- object_name: pink_long_towel +- object_name: whiteboard_eraser +- object_name: mentholatum_facial_cleanser +- object_name: duck +- object_name: compass +- object_name: bowl +- object_name: blue_long_towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the object with the gripper. +sub_tasks: +- subtask: Grasp the XX with the right gripper. + subtask_index: 0 +- subtask: Place the XX on the table with the left gripper. + subtask_index: 1 +- subtask: Place the XX on the table with the right gripper. + subtask_index: 2 +- subtask: Grasp the XX with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 199 + total_frames: 103966 + fps: 30 + total_tasks: 6 + total_videos: 597 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 1.34 GB +frame_num: 103966 +frame_range: 1M +dataset_size: 1.34 GB +data_structure: 'Agilex_Cobot_Magic_move_object_beige_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (187 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:198 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_move_object_black_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_object_black_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce31184a5ab0d78971e4c2f2ec4e6ec69ab1ec79 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_object_black_tablecloth.yaml @@ -0,0 +1,778 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_move_object_black_tablecloth +dataset_uuid: 5c13223f-ba92-40c9-b530-53c60e7d38b9 +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: black_table_cloths +- object_name: waffle +- object_name: green_lemon +- object_name: eggplant +- object_name: chewing_gum +- object_name: chocolate +- object_name: mango +- object_name: chewing_gum +- object_name: mint_candy +- object_name: mangosteen +- object_name: orange +- object_name: bread +- object_name: banana +- object_name: cake +- object_name: beef_cheeseburger +- object_name: bowl +- object_name: pan +- object_name: small_teapot +- object_name: small_teacup +- object_name: paper_ball +- object_name: brown_square_towel +- object_name: black_cylindrical_pen_holder +- object_name: pink_long_towel +- object_name: whiteboard_eraser +- object_name: mentholatum_facial_cleanser +- object_name: duck +- object_name: compass +- object_name: bowl +- object_name: blue_long_towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the object with the gripper. +sub_tasks: +- subtask: Place the XX on the table with the left gripper. + subtask_index: 0 +- subtask: Grasp the pen container with the right gripper. + subtask_index: 1 +- subtask: Grasp the blue bowl with the left gripper. + subtask_index: 2 +- subtask: Grasp the pen container with the right gripper. + subtask_index: 3 +- subtask: Place the square chewing gum on the table with the left gripper. + subtask_index: 4 +- subtask: Grasp the pink towel with the left gripper. + subtask_index: 5 +- subtask: Place the blue pot on the table with the right gripper. + subtask_index: 6 +- subtask: Place the brown towel on the table with the left gripper. + subtask_index: 7 +- subtask: Place the waffle on the table with the left gripper. + subtask_index: 8 +- subtask: Place the white duck on the table with the right gripper. + subtask_index: 9 +- subtask: Place the white blackboard erasure on the table with the left gripper. + subtask_index: 10 +- subtask: Grasp the compass with the left gripper. + subtask_index: 11 +- subtask: Grasp the green lemon with the right gripper. + subtask_index: 12 +- subtask: Grasp the cyan cup with the left gripper. + subtask_index: 13 +- subtask: Place the blue bowl on the table with the left gripper. + subtask_index: 14 +- subtask: Grasp the mint candy with the right gripper. + subtask_index: 15 +- subtask: Grasp the mint candy with the left gripper. + subtask_index: 16 +- subtask: Grasp the cyan cup with the right gripper. + subtask_index: 17 +- subtask: Grasp the green lemon with the left gripper. + subtask_index: 18 +- subtask: "Grasp the white blackboard erasure\t with the left gripper." + subtask_index: 19 +- subtask: Grasp the white duck with the left gripper. + subtask_index: 20 +- subtask: Grasp the square chewing gum with the left gripper. + subtask_index: 21 +- subtask: Grasp the mint candy with the left gripper. + subtask_index: 22 +- subtask: Place the brown towel on the table with the left gripper. + subtask_index: 23 +- subtask: Place the on the table with the right gripper. + subtask_index: 24 +- subtask: Grasp the XX with the right gripper. + subtask_index: 25 +- subtask: Place the blue blackboard erasure on the table with the left gripper. + subtask_index: 26 +- subtask: Place the white blackboard erasure on the table with the left gripper. + subtask_index: 27 +- subtask: Place the teapot on the table with the right gripper. + subtask_index: 28 +- subtask: Grasp the white blackboard erasure with the left gripper. + subtask_index: 29 +- subtask: Grasp the Square chewing gum with the right gripper. + subtask_index: 30 +- subtask: Place the pink towel on the table with the left gripper. + subtask_index: 31 +- subtask: Grasp the hard facial cleanser with the right gripper. + subtask_index: 32 +- subtask: Grasp the with the left gripper. + subtask_index: 33 +- subtask: Place the hard facial cleanser on the table with the right gripper. + subtask_index: 34 +- subtask: Grasp the white duck with the left gripper. + subtask_index: 35 +- subtask: Place the mint candy on the table with the right gripper. + subtask_index: 36 +- subtask: Grasp the brown towel with the left gripper. + subtask_index: 37 +- subtask: Grasp the chocolate with the right gripper. + subtask_index: 38 +- subtask: Grasp the brown towel with the right gripper. + subtask_index: 39 +- subtask: Grasp the mango with the left gripper. + subtask_index: 40 +- subtask: Place the white blackboard erasure on the table with the left gripper. + subtask_index: 41 +- subtask: Grasp the brown towel with the left gripper. + subtask_index: 42 +- subtask: Place the mango on the table with the right gripper. + subtask_index: 43 +- subtask: Place the brown towel on the table with the left gripper. + subtask_index: 44 +- subtask: Place the teapot on the table with the left gripper. + subtask_index: 45 +- subtask: Grasp the hard facial cleanser with the right gripper. + subtask_index: 46 +- subtask: Place the pink towel on the table with the right gripper. + subtask_index: 47 +- subtask: Grasp the pink towel with the right gripper. + subtask_index: 48 +- subtask: Place the waffle on the table with the right gripper. + subtask_index: 49 +- subtask: Place the blue pot on the table with the left gripper. + subtask_index: 50 +- subtask: Place the pen container on the table with the right gripper. + subtask_index: 51 +- subtask: Grasp the blue pot with the right gripper. + subtask_index: 52 +- subtask: Grasp the pen container with the left gripper. + subtask_index: 53 +- subtask: Grasp the green lemon with the right gripper. + subtask_index: 54 +- subtask: Grasp the eggplant with the right gripper. + subtask_index: 55 +- subtask: "Place the white blackboard erasure\t on the table with the left gripper." + subtask_index: 56 +- subtask: Place the eggplant on the table with the left gripper. + subtask_index: 57 +- subtask: Place the green lemon on the table with the left gripper. + subtask_index: 58 +- subtask: Place the XX on the table with the right gripper. + subtask_index: 59 +- subtask: End. + subtask_index: 60 +- subtask: Grasp the white blackboard erasure with the right gripper. + subtask_index: 61 +- subtask: Place the white duck on the table with the left gripper. + subtask_index: 62 +- subtask: Place the orange on the table with the left gripper. + subtask_index: 63 +- subtask: Grasp the eggplant with the right gripper. + subtask_index: 64 +- subtask: Grasp the brown towel with the right gripper. + subtask_index: 65 +- subtask: Place the square chewing gum on the table with the right gripper. + subtask_index: 66 +- subtask: Place the compass on the table with the right gripper. + subtask_index: 67 +- subtask: Grasp the orange with the left gripper. + subtask_index: 68 +- subtask: Place the hard facial cleanser on the table with the left gripper. + subtask_index: 69 +- subtask: Grasp the blue blackboard erasure with the left gripper. + subtask_index: 70 +- subtask: Place the brown towel on the table with the right gripper. + subtask_index: 71 +- subtask: Grasp the blue blackboard erasure with the right gripper. + subtask_index: 72 +- subtask: Grasp the eggplant with the left gripper. + subtask_index: 73 +- subtask: Grasp the square chewing gum with the right gripper. + subtask_index: 74 +- subtask: Place the mango on the table with the left gripper. + subtask_index: 75 +- subtask: Grasp the waffle with the right gripper. + subtask_index: 76 +- subtask: "Grasp the white blackboard erasure\t with the right gripper." + subtask_index: 77 +- subtask: Place the teapot on the table with the left gripper. + subtask_index: 78 +- subtask: Place the waffle on the table with the right gripper. + subtask_index: 79 +- subtask: Grasp the mango with the right gripper. + subtask_index: 80 +- subtask: Grasp the white blackboard erasure with the left gripper. + subtask_index: 81 +- subtask: Grasp the blue pot with the left gripper. + subtask_index: 82 +- subtask: Place the square chewing gum on the table with the right gripper. + subtask_index: 83 +- subtask: Place the pen container on the table with the right gripper. + subtask_index: 84 +- subtask: Place the green lemon on the table with the right gripper. + subtask_index: 85 +- subtask: Place the blue blackboard erasure on the table with the right gripper. + subtask_index: 86 +- subtask: Grasp the teapot with the left gripper. + subtask_index: 87 +- subtask: Place the borwn towel on the table with the right gripper. + subtask_index: 88 +- subtask: Place the pen container on the table with the left gripper. + subtask_index: 89 +- subtask: Grasp the compass with the left gripper. + subtask_index: 90 +- subtask: Grasp the fruit candy with the right gripper. + subtask_index: 91 +- subtask: Place the cyan cup on the table with the left gripper. + subtask_index: 92 +- subtask: Place the fruit candy on the table with the right gripper. + subtask_index: 93 +- subtask: Place the compass on the table with the left gripper. + subtask_index: 94 +- subtask: Grasp the white duck with the right gripper. + subtask_index: 95 +- subtask: Grasp the waffle with the right gripper. + subtask_index: 96 +- subtask: Place the blue pot on the table with the left gripper. + subtask_index: 97 +- subtask: Grasp the mango with the left gripper. + subtask_index: 98 +- subtask: Grasp the teapot with the right gripper. + subtask_index: 99 +- subtask: Place the teacup on the table with the left gripper. + subtask_index: 100 +- subtask: Grasp the pink towel with the right gripper. + subtask_index: 101 +- subtask: Grasp the blue pot with the left gripper. + subtask_index: 102 +- subtask: Place the mango on the table with the right gripper. + subtask_index: 103 +- subtask: Place the mangosteen on the table with the left gripper. + subtask_index: 104 +- subtask: Grasp the square chewing gum with the left gripper. + subtask_index: 105 +- subtask: Grasp the square chewing gum with the right gripper. + subtask_index: 106 +- subtask: Grasp the compass with the right gripper. + subtask_index: 107 +- subtask: Place the tea cup on the table with the right gripper. + subtask_index: 108 +- subtask: Place the teapot on the table with the left gripper. + subtask_index: 109 +- subtask: Grasp the cyan cup with the left gripper. + subtask_index: 110 +- subtask: Grasp the eggplant with the right gripper. + subtask_index: 111 +- subtask: Place the white blackboard erasure on the table with the right gripper. + subtask_index: 112 +- subtask: Place the green lemon on the table with the left gripper. + subtask_index: 113 +- subtask: Grasp the hard facial cleanser with the left gripper. + subtask_index: 114 +- subtask: "Place the white blackboard erasure\t on the table with the right gripper." + subtask_index: 115 +- subtask: Place the mango on the table with the left gripper. + subtask_index: 116 +- subtask: Grasp the tea cup with the right gripper. + subtask_index: 117 +- subtask: Grasp the waffle with the left gripper. + subtask_index: 118 +- subtask: Grasp the pink towel with the left gripper. + subtask_index: 119 +- subtask: Place the hard facial cleanser on the table with the right gripper. + subtask_index: 120 +- subtask: Place the eggplant on the table with the right gripper. + subtask_index: 121 +- subtask: Place the mint candy on the table with the left gripper. + subtask_index: 122 +- subtask: Grasp the mint candy with the right gripper. + subtask_index: 123 +- subtask: Grasp the chocolate with the right gripper. + subtask_index: 124 +- subtask: Place the cyan cup on the table with the right gripper. + subtask_index: 125 +- subtask: Grasp the XX with the left gripper. + subtask_index: 126 +- subtask: Place the chocolate on the table with the right gripper. + subtask_index: 127 +- subtask: Grasp the mint candy with the right gripper. + subtask_index: 128 +- subtask: Grasp the with the right gripper. + subtask_index: 129 +- subtask: Place the brown towel on the table with the right gripper. + subtask_index: 130 +- subtask: Grasp the green lemon with the left gripper. + subtask_index: 131 +- subtask: Place the Mangosteen on the table with the right gripper. + subtask_index: 132 +- subtask: Place the square chewing gum on the table with the left gripper. + subtask_index: 133 +- subtask: Grasp the teacup with the left gripper. + subtask_index: 134 +- subtask: Place the chocolate on the table with the right gripper. + subtask_index: 135 +- subtask: Grasp the blue bowl with the left gripper. + subtask_index: 136 +- subtask: Grasp the teapot with the left gripper. + subtask_index: 137 +- subtask: Place the pink bowel on the table with the right gripper. + subtask_index: 138 +- subtask: Place the mint candy on the table with the right gripper. + subtask_index: 139 +- subtask: null. + subtask_index: 140 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 200 + total_frames: 119721 + fps: 30 + total_tasks: 141 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 6.75 GB +frame_num: 119721 +frame_range: 1M +dataset_size: 6.75 GB +data_structure: 'Agilex_Cobot_Magic_move_object_black_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (188 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:199 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_move_object_green_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_object_green_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d13398b52d1962f103a1029a4832bdd75ad44917 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_object_green_tablecloth.yaml @@ -0,0 +1,878 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_move_object_green_tablecloth +dataset_uuid: d136ca75-23a1-487c-8f3e-0a853aff85d2 +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: green_table_cloths +- object_name: waffle +- object_name: green_lemon +- object_name: eggplant +- object_name: chewing_gum +- object_name: chocolate +- object_name: mango +- object_name: chewing_gum +- object_name: mint_candy +- object_name: mangosteen +- object_name: orange +- object_name: bread +- object_name: banana +- object_name: cake +- object_name: beef_cheeseburger +- object_name: bowl +- object_name: pan +- object_name: small_teapot +- object_name: small_teacup +- object_name: paper_ball +- object_name: brown_square_towel +- object_name: black_cylindrical_pen_holder +- object_name: pink_long_towel +- object_name: whiteboard_eraser +- object_name: mentholatum_facial_cleanser +- object_name: duck +- object_name: compass +- object_name: bowl +- object_name: blue_long_towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the object with the gripper. +sub_tasks: +- subtask: Place the XX on the table with the left gripper. + subtask_index: 0 +- subtask: Grasp the blue blackboard earser with the right gripper. + subtask_index: 1 +- subtask: Grasp the square chewing gun with the right gripper. + subtask_index: 2 +- subtask: Grasp the pen container with the right gripper. + subtask_index: 3 +- subtask: Grasp the blue bowl with the left gripper. + subtask_index: 4 +- subtask: Place the hard blackbaord cleanser on the table with the left gripper. + subtask_index: 5 +- subtask: Place the blue towel on the table with the right gripper. + subtask_index: 6 +- subtask: Grasp the orange with the right gripper. + subtask_index: 7 +- subtask: Grasp the white blackboard earser with the left gripper. + subtask_index: 8 +- subtask: Place the mangosteen on the table with the left gripper. + subtask_index: 9 +- subtask: Grasp the pen container with the right gripper. + subtask_index: 10 +- subtask: Place the pen container on the table with the right gripper. + subtask_index: 11 +- subtask: Grasp the white blackboard earser with left gripper. + subtask_index: 12 +- subtask: Place the blue bowl on the table with the right gripper. + subtask_index: 13 +- subtask: Place the eggplant on the table with the right gripper. + subtask_index: 14 +- subtask: Place the blue blackboard earser on the table with the right gripper. + subtask_index: 15 +- subtask: Place the blue blackboard earser on the table with the right gripper. + subtask_index: 16 +- subtask: Place the orange on the table with the right gripper. + subtask_index: 17 +- subtask: Place the blue bowl on the table with the right gripper. + subtask_index: 18 +- subtask: Place the brown towel on the table with the left gripper. + subtask_index: 19 +- subtask: Grasp the cyan cup with the right gripper. + subtask_index: 20 +- subtask: Place the compasses on the table with the right gripper. + subtask_index: 21 +- subtask: Grasp the compasses with the right gripper. + subtask_index: 22 +- subtask: Grasp the green lemon with the right gripper. + subtask_index: 23 +- subtask: Grasp the cyan cup with the left gripper. + subtask_index: 24 +- subtask: Place the wallfe on the table with the left gripper. + subtask_index: 25 +- subtask: Place the blue bowl on the table with the left gripper. + subtask_index: 26 +- subtask: Grasp the fruit candy with the left gripper. + subtask_index: 27 +- subtask: Grasp the orange with the right gripper. + subtask_index: 28 +- subtask: Place the green lemon on the table with the right gripper. + subtask_index: 29 +- subtask: Grasp the cyan cup with the right gripper. + subtask_index: 30 +- subtask: Grasp the wallfe with the right gripper. + subtask_index: 31 +- subtask: Grasp the green lemon with the left gripper. + subtask_index: 32 +- subtask: Place the white blackboard earser on the table with the right gripper. + subtask_index: 33 +- subtask: Grasp the green lemon with the right gripper. + subtask_index: 34 +- subtask: Grasp the square chewing gun with the left gripper. + subtask_index: 35 +- subtask: Grasp the square chewing gum with the left gripper. + subtask_index: 36 +- subtask: Grasp the with cyan cup the left gripper. + subtask_index: 37 +- subtask: Place the blue bowl on the table with the left gripper. + subtask_index: 38 +- subtask: Grasp the tea[ot with the left gripper. + subtask_index: 39 +- subtask: Grasp the cyan cup with the right gripper. + subtask_index: 40 +- subtask: Place the wallfe on the table with the right gripper. + subtask_index: 41 +- subtask: Place the pen container on the table with the right gripper. + subtask_index: 42 +- subtask: Place the eggplant on the table with the left gripper. + subtask_index: 43 +- subtask: Grasp the hard facial cleanser with the right gripper. + subtask_index: 44 +- subtask: Place the ornage on the table with the right gripper. + subtask_index: 45 +- subtask: Grasp the pen container with the left gripper. + subtask_index: 46 +- subtask: Place the fruit candy on the table with the left gripper. + subtask_index: 47 +- subtask: Grasp the hard facial cleanser with the left gripper. + subtask_index: 48 +- subtask: Grasp the chocolate with the right gripper. + subtask_index: 49 +- subtask: Grasp the blue blackboard earser with the right gripper. + subtask_index: 50 +- subtask: Grasp the mangosteen with the left gripper. + subtask_index: 51 +- subtask: Place the square chewing gun on the table with the right gripper. + subtask_index: 52 +- subtask: Grasp the brown towel with the left gripper. + subtask_index: 53 +- subtask: Place the brown towel on the table with the left gripper. + subtask_index: 54 +- subtask: Grasp the brown towel with the right gripper mangosteen. + subtask_index: 55 +- subtask: Grasp the blue bowl with the right gripper. + subtask_index: 56 +- subtask: Place the teapot on the table with the left gripper. + subtask_index: 57 +- subtask: Grasp the blue cup with the left gripper. + subtask_index: 58 +- subtask: Grasp the teacup with the right gripper. + subtask_index: 59 +- subtask: Grasp the square chewing gun with the right gripper. + subtask_index: 60 +- subtask: Grasp the teapot with the right gripper. + subtask_index: 61 +- subtask: Place the pink towel on the table with the left gripper. + subtask_index: 62 +- subtask: Grasp the blue bowl with the left gripper. + subtask_index: 63 +- subtask: Place the waffle on the table with the right gripper. + subtask_index: 64 +- subtask: Place the pen container on the table with the right gripper. + subtask_index: 65 +- subtask: Place the mangosteen on the table with the right gripper. + subtask_index: 66 +- subtask: Grasp the pen container with the left gripper. + subtask_index: 67 +- subtask: Grasp the eggplant with the right gripper. + subtask_index: 68 +- subtask: Grasp the white blackboard earser with the right gripper. + subtask_index: 69 +- subtask: Grasp the green lemon with the right gripper. + subtask_index: 70 +- subtask: Place the eggplant on the table with the left gripper. + subtask_index: 71 +- subtask: Grasp the eggplant with the left gripper. + subtask_index: 72 +- subtask: Place the hard facial cleanser on the table with the left gripper. + subtask_index: 73 +- subtask: Grasp the hard facial cleanser with the right gripper. + subtask_index: 74 +- subtask: Grasp the mangosteen with the left gripper. + subtask_index: 75 +- subtask: Place the mangosteen on the table with the right gripper. + subtask_index: 76 +- subtask: End. + subtask_index: 77 +- subtask: Grasp the wallfe with the right gripper. + subtask_index: 78 +- subtask: Grasp the white blackboard erasure with the right gripper. + subtask_index: 79 +- subtask: Grasp the blue blackboard erasure with the left gripper. + subtask_index: 80 +- subtask: Grasp the white blackboard earser with the right gripper. + subtask_index: 81 +- subtask: Place the orange on the table with the left gripper. + subtask_index: 82 +- subtask: Place the fruit candy on the table with the right gripper. + subtask_index: 83 +- subtask: Grasp the brown towel with the right gripper. + subtask_index: 84 +- subtask: Grasp the orange with the left gripper. + subtask_index: 85 +- subtask: Place the compass on the table with the right gripper. + subtask_index: 86 +- subtask: Grasp the tea cup with the left gripper. + subtask_index: 87 +- subtask: Place the hard facial cleanser on the table with the left gripper. + subtask_index: 88 +- subtask: Place the brown towel on the table with the right gripper. + subtask_index: 89 +- subtask: Grasp the eggplant with the left gripper. + subtask_index: 90 +- subtask: Place the pen container on the table with the left gripper. + subtask_index: 91 +- subtask: Grasp the white blackboard earser with the right gripper. + subtask_index: 92 +- subtask: Grasp the square chewing gun with the right gripper. + subtask_index: 93 +- subtask: Place the cyan cup on the table with the left gripper. + subtask_index: 94 +- subtask: Grasp the waffle with the right gripper. + subtask_index: 95 +- subtask: Grasp the blue bowl with the right gripper. + subtask_index: 96 +- subtask: Grasp the square chewing gun with the right gripper. + subtask_index: 97 +- subtask: Place the waffle on the table with the right gripper. + subtask_index: 98 +- subtask: Grasp the blue bowl with the right gripper. + subtask_index: 99 +- subtask: Abnormal. + subtask_index: 100 +- subtask: Grasp the white blackboard earser with the right gripper mangosteen. + subtask_index: 101 +- subtask: Grasp the blue towel with the right gripper. + subtask_index: 102 +- subtask: Grasp the brown towel with the right gripper. + subtask_index: 103 +- subtask: Place the pen container on the table with the right gripper. + subtask_index: 104 +- subtask: Place the square chewing gum on the table with the right gripper. + subtask_index: 105 +- subtask: Place the green lemon on the table with the right gripper. + subtask_index: 106 +- subtask: Place the chocolate on the table with the right gripper. + subtask_index: 107 +- subtask: Grasp the square facial square with the right gripper. + subtask_index: 108 +- subtask: Grasp the teapot with the left gripper. + subtask_index: 109 +- subtask: Place the pen container on the table with the left gripper. + subtask_index: 110 +- subtask: Place the hard facial earser on the table with the right gripper. + subtask_index: 111 +- subtask: Place the teacup on the table with the left gripper. + subtask_index: 112 +- subtask: Place the sqaure chewing gun on the table with the right gripper. + subtask_index: 113 +- subtask: Place the blue cup on the table with the left gripper. + subtask_index: 114 +- subtask: Place the blue blackboard erasure on the table with the left gripper. + subtask_index: 115 +- subtask: Grasp the wallfe with the right gripper. + subtask_index: 116 +- subtask: Grasp the cyan cup with the right gripper. + subtask_index: 117 +- subtask: Grasp the pink towel with the left gripper. + subtask_index: 118 +- subtask: Grasp the mangosteen with the right gripper. + subtask_index: 119 +- subtask: Place the cyan cup on the table with the left gripper. + subtask_index: 120 +- subtask: Place the wallfe on the table with the right gripper. + subtask_index: 121 +- subtask: Grasp the square chewing gun with the left gripper. + subtask_index: 122 +- subtask: Grasp the blue bowel with the right gripper. + subtask_index: 123 +- subtask: Grasp the orange with the left gripper. + subtask_index: 124 +- subtask: Place the sqaure chewing gun on the table with the right gripper. + subtask_index: 125 +- subtask: Grasp the sqaure chewing gun with the right gripper. + subtask_index: 126 +- subtask: Place the orange on the table with the right gripper. + subtask_index: 127 +- subtask: Place the white blackboard earser on the table with the left gripper. + subtask_index: 128 +- subtask: Place the teacup on the table with the left gripper. + subtask_index: 129 +- subtask: Grasp the pen container with the right gripper. + subtask_index: 130 +- subtask: Grasp the blue blackboard earser with the left gripper. + subtask_index: 131 +- subtask: Place the teapot on the table with the right gripper. + subtask_index: 132 +- subtask: Grasp the wallfe with the right gripper. + subtask_index: 133 +- subtask: Place the mangosteen on the table with the left gripper. + subtask_index: 134 +- subtask: Place the square chewing gun on the table with the left gripper. + subtask_index: 135 +- subtask: Grasp the fruit candy with the right gripper. + subtask_index: 136 +- subtask: Grasp the square chewing gum with the right gripper. + subtask_index: 137 +- subtask: Grasp the compass with the right gripper. + subtask_index: 138 +- subtask: Place the teapot on the table with the left gripper. + subtask_index: 139 +- subtask: Grasp the cyan cup with the left gripper. + subtask_index: 140 +- subtask: Place the teacup on the table with the right gripper. + subtask_index: 141 +- subtask: Grasp the eggplant with the right gripper. + subtask_index: 142 +- subtask: Grasp the pen container with the right gripper mangosteen. + subtask_index: 143 +- subtask: Grasp the mangosteen with the right gripper. + subtask_index: 144 +- subtask: Place the green lemon on the table with the left gripper. + subtask_index: 145 +- subtask: Place the pen containeron the table with the left gripper. + subtask_index: 146 +- subtask: Place the white blackboard erasure on the table with the right gripper. + subtask_index: 147 +- subtask: Grasp the hard facial cleanser with the left gripper. + subtask_index: 148 +- subtask: Grasp the whiite blackboard earser with the right gripper. + subtask_index: 149 +- subtask: Grasp the wallfe with the left gripper. + subtask_index: 150 +- subtask: Grasp the wallfe with the right gripper mangosteen. + subtask_index: 151 +- subtask: Grasp the chocolate with the right gripper. + subtask_index: 152 +- subtask: Place the cyan cup on the table with the left gripper. + subtask_index: 153 +- subtask: Grasp the cyan cup with the right gripper. + subtask_index: 154 +- subtask: Place the green lemon on the table with the right gripper. + subtask_index: 155 +- subtask: Place the chocolate on the table with the left gripper. + subtask_index: 156 +- subtask: Grasp the cyan cup with the right gripper mangosteen. + subtask_index: 157 +- subtask: Grasp the eggplant with the right gripper. + subtask_index: 158 +- subtask: Grasp the white blackboard earser with the left gripper. + subtask_index: 159 +- subtask: Place the hard facial cleanser on the table with the right gripper. + subtask_index: 160 +- subtask: Place the blue blackboard earser on the table with the left gripper. + subtask_index: 161 +- subtask: Place the eggplant on the table with the right gripper. + subtask_index: 162 +- subtask: Grasp the chocolate with the right gripper. + subtask_index: 163 +- subtask: Grasp the chocolate with the left gripper. + subtask_index: 164 +- subtask: Place the orange on the table with the left gripper. + subtask_index: 165 +- subtask: Grasp the XX with the left gripper. + subtask_index: 166 +- subtask: Place the pen container on the table with the left gripper. + subtask_index: 167 +- subtask: Place the chocolate on the table with the right gripper. + subtask_index: 168 +- subtask: Place the white blackboard earser on the table with the left gripper. + subtask_index: 169 +- subtask: Grasp the chocolate with the left gripper. + subtask_index: 170 +- subtask: Grasp the pen container with the left gripper. + subtask_index: 171 +- subtask: Place the sqaure chewing gun on the table with the left gripper. + subtask_index: 172 +- subtask: Place the tea cup on the table with the left gripper. + subtask_index: 173 +- subtask: Place the chocolate on the table with the right gripper. + subtask_index: 174 +- subtask: Grasp the teacup with the left gripper. + subtask_index: 175 +- subtask: Place the square chewing gum on the table with the left gripper. + subtask_index: 176 +- subtask: Grasp the brown towel with the right gripper. + subtask_index: 177 +- subtask: Grasp the teapot with the left gripper. + subtask_index: 178 +- subtask: Grasp the teacup with the left gripper. + subtask_index: 179 +- subtask: Place the chocolate on the table with the left gripper. + subtask_index: 180 +- subtask: Place the cyan cup on the table with the right gripper. + subtask_index: 181 +- subtask: null. + subtask_index: 182 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 197 + total_frames: 85405 + fps: 30 + total_tasks: 183 + total_videos: 591 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 5.33 GB +frame_num: 85405 +frame_range: 100K +dataset_size: 5.33 GB +data_structure: 'Agilex_Cobot_Magic_move_object_green_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (185 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:196 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_move_object_red_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_object_red_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3c44f11266f28d644460991ec2801d318a64cb21 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_object_red_tablecloth.yaml @@ -0,0 +1,756 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_move_object_red_tablecloth +dataset_uuid: b58cd32f-d3d7-4057-880b-5401c52744a7 +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: red_table_cloths +- object_name: waffle +- object_name: green_lemon +- object_name: eggplant +- object_name: chewing_gum +- object_name: chocolate +- object_name: mango +- object_name: chewing_gum +- object_name: mint_candy +- object_name: mangosteen +- object_name: orange +- object_name: bread +- object_name: banana +- object_name: cake +- object_name: beef_cheeseburger +- object_name: bowl +- object_name: pan +- object_name: small_teapot +- object_name: small_teacup +- object_name: paper_ball +- object_name: brown_square_towel +- object_name: black_cylindrical_pen_holder +- object_name: pink_long_towel +- object_name: whiteboard_eraser +- object_name: mentholatum_facial_cleanser +- object_name: duck +- object_name: compass +- object_name: bowl +- object_name: blue_long_towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the object with the gripper. +sub_tasks: +- subtask: Grasp the pink towel with the right gripper. + subtask_index: 0 +- subtask: Place the XX on the table with the left gripper. + subtask_index: 1 +- subtask: Place the mint candy on the table with the left gripper. + subtask_index: 2 +- subtask: Place the snickers on the table with the right gripper. + subtask_index: 3 +- subtask: Grasp the pen container with the right gripper. + subtask_index: 4 +- subtask: Grasp the grey towel with the left gripper. + subtask_index: 5 +- subtask: Place the eyeglass case on the table with the left gripper. + subtask_index: 6 +- subtask: Grasp the white duck with the left gripper. + subtask_index: 7 +- subtask: Place the eggplant on the table with the right gripper. + subtask_index: 8 +- subtask: Place the blue bowl on the table with the right gripper. + subtask_index: 9 +- subtask: Grasp the banana with the left gripper. + subtask_index: 10 +- subtask: Place the compasses on the table with the right gripper. + subtask_index: 11 +- subtask: Place the sandwich on the table with the left gripper. + subtask_index: 12 +- subtask: Place the pink cake on the table with the right gripper. + subtask_index: 13 +- subtask: Place the banana on the table with the right gripper. + subtask_index: 14 +- subtask: Grasp the compasses with the right gripper. + subtask_index: 15 +- subtask: Grasp the orange with the right gripper. + subtask_index: 16 +- subtask: Grasp the blue cup with the left gripper. + subtask_index: 17 +- subtask: Place the peach on the table with the right gripper. + subtask_index: 18 +- subtask: Place the green lemon on the table with the right gripper. + subtask_index: 19 +- subtask: Grasp the mint candy with the left gripper. + subtask_index: 20 +- subtask: Grasp the sandwich with the right gripper. + subtask_index: 21 +- subtask: Grasp the eyeglass case with the left gripper. + subtask_index: 22 +- subtask: Place the compasses on the table with the left gripper. + subtask_index: 23 +- subtask: Place the eyeglass case on the table with the right gripper. + subtask_index: 24 +- subtask: Grasp the square chewing gum with the left gripper. + subtask_index: 25 +- subtask: Place the brown towel on the table with the left gripper. + subtask_index: 26 +- subtask: Place the blue bowl on the table with the left gripper. + subtask_index: 27 +- subtask: Grasp the sandwich biscuit with the right gripper. + subtask_index: 28 +- subtask: Place the white blackboard erasure on the table with the left gripper. + subtask_index: 29 +- subtask: Grasp the white blackboard erasure with the left gripper. + subtask_index: 30 +- subtask: Grasp the snickers with the right gripper. + subtask_index: 31 +- subtask: Grasp the eyeglass case with the right gripper. + subtask_index: 32 +- subtask: Place the eggplant on the table with the left gripper. + subtask_index: 33 +- subtask: Place the mango on the table with the right gripper. + subtask_index: 34 +- subtask: Place the hard facial cleanser on the table with the right gripper. + subtask_index: 35 +- subtask: Place the mint candy on the table with the right gripper. + subtask_index: 36 +- subtask: Grasp the brown towel with the left gripper. + subtask_index: 37 +- subtask: Grasp the hard facial cleanser with the left gripper. + subtask_index: 38 +- subtask: Grasp the chocolate with the right gripper. + subtask_index: 39 +- subtask: Grasp the mangosteen with the left gripper. + subtask_index: 40 +- subtask: Grasp the peach with the right gripper. + subtask_index: 41 +- subtask: Grasp the brown towel with the right gripper. + subtask_index: 42 +- subtask: Grasp the mango with the left gripper. + subtask_index: 43 +- subtask: Place the snickers on the table with the left gripper. + subtask_index: 44 +- subtask: Grasp the snickers with the left gripper. + subtask_index: 45 +- subtask: Grasp the lemon with the left gripper. + subtask_index: 46 +- subtask: Place the teapot on the table with the left gripper. + subtask_index: 47 +- subtask: Grasp the hard facial cleanser with the right gripper. + subtask_index: 48 +- subtask: Grasp the sandwich with the left gripper. + subtask_index: 49 +- subtask: Place the white duck on the table with the left gripper. + subtask_index: 50 +- subtask: Place the white duck on the table with the right gripper. + subtask_index: 51 +- subtask: Grasp the teapot with the right gripper. + subtask_index: 52 +- subtask: Place the pink towel on the table with the left gripper. + subtask_index: 53 +- subtask: Grasp the hollow ring bread with the right gripper. + subtask_index: 54 +- subtask: Grasp the hollow ring bread with the right gripper. + subtask_index: 55 +- subtask: Grasp the blue bowl with the left gripper. + subtask_index: 56 +- subtask: Place the waffle on the table with the right gripper. + subtask_index: 57 +- subtask: Place the pen container on the table with the right gripper. + subtask_index: 58 +- subtask: Place the mangosteen on the table with the right gripper. + subtask_index: 59 +- subtask: Grasp the eggplant with the right gripper. + subtask_index: 60 +- subtask: Grasp the pink cake with the left gripper. + subtask_index: 61 +- subtask: Grasp the gray towel with the right gripper. + subtask_index: 62 +- subtask: Place the pink towel on the table with the right gripper. + subtask_index: 63 +- subtask: Grasp the green lemon with the right gripper. + subtask_index: 64 +- subtask: Place the green lemon on the table with the left gripper. + subtask_index: 65 +- subtask: Grasp the eggplant with the left gripper. + subtask_index: 66 +- subtask: Place the hard facial cleanser on the table with the left gripper. + subtask_index: 67 +- subtask: Place the lemon on the table with the left gripper. + subtask_index: 68 +- subtask: End. + subtask_index: 69 +- subtask: Grasp the white duck with the right gripper. + subtask_index: 70 +- subtask: Grasp the white blackboard erasure with the right gripper. + subtask_index: 71 +- subtask: Grasp the blue blackboard erasure with the left gripper. + subtask_index: 72 +- subtask: Place the sandwich biscuit on the table with the right gripper. + subtask_index: 73 +- subtask: Place the sandwich on the table with the right gripper. + subtask_index: 74 +- subtask: Place the fruit candy on the table with the right gripper. + subtask_index: 75 +- subtask: Place the gray towel on the table with the right gripper. + subtask_index: 76 +- subtask: Place the blue cup on the table with the right gripper. + subtask_index: 77 +- subtask: Place the pen container on the table with the left gripper. + subtask_index: 78 +- subtask: Grasp the compasses with the left gripper. + subtask_index: 79 +- subtask: Grasp the waffle with the right gripper. + subtask_index: 80 +- subtask: Grasp the blue bowl with the right gripper. + subtask_index: 81 +- subtask: Place the pink cake on the table with the left gripper. + subtask_index: 82 +- subtask: Abnormal. + subtask_index: 83 +- subtask: Place the square chewing gum on the table with the right gripper. + subtask_index: 84 +- subtask: Place the blue blackboard erasure on the table with the left gripper. + subtask_index: 85 +- subtask: Grasp the pink towel with the left gripper. + subtask_index: 86 +- subtask: Grasp the mangosteen with the right gripper. + subtask_index: 87 +- subtask: Place the grey towel on the table with the left gripper. + subtask_index: 88 +- subtask: Grasp the orange with the left gripper. + subtask_index: 89 +- subtask: Place the hollow ring bread on the table with the right gripper. + subtask_index: 90 +- subtask: Place the blue cup on the table with the left gripper. + subtask_index: 91 +- subtask: Place the orange on the table with the right gripper. + subtask_index: 92 +- subtask: Place the teapot on the table with the right gripper. + subtask_index: 93 +- subtask: Place the mangosteen on the table with the left gripper. + subtask_index: 94 +- subtask: Grasp the fruit candy with the right gripper. + subtask_index: 95 +- subtask: Grasp the square chewing gum with the right gripper. + subtask_index: 96 +- subtask: Place the white blackboard erasure on the table with the right gripper. + subtask_index: 97 +- subtask: Grasp the pink cake with the right gripper. + subtask_index: 98 +- subtask: Place the mango on the table with the left gripper. + subtask_index: 99 +- subtask: Place the chocolate on the table with the left gripper. + subtask_index: 100 +- subtask: Place the hollow ring bread on the table with the right gripper. + subtask_index: 101 +- subtask: Grasp the blue blackboard erasure with the right gripper. + subtask_index: 102 +- subtask: Place the banana on the table with the left gripper. + subtask_index: 103 +- subtask: Place the hard facial cleanser on the table with the right gripper. + subtask_index: 104 +- subtask: Place the blue blackboard erasure on the table with the right gripper. + subtask_index: 105 +- subtask: Grasp the chocolate with the left gripper. + subtask_index: 106 +- subtask: Grasp the mango with the right gripper. + subtask_index: 107 +- subtask: Place the orange on the table with the left gripper. + subtask_index: 108 +- subtask: Grasp the XX with the left gripper. + subtask_index: 109 +- subtask: Place the chocolate on the table with the right gripper. + subtask_index: 110 +- subtask: Grasp the blue cup with the right gripper. + subtask_index: 111 +- subtask: Grasp the mint candy with the right gripper. + subtask_index: 112 +- subtask: Place the brown towel on the table with the right gripper. + subtask_index: 113 +- subtask: Grasp the pen container with the left gripper. + subtask_index: 114 +- subtask: Grasp the green lemon with the left gripper. + subtask_index: 115 +- subtask: Grasp the tea cup with the left gripper. + subtask_index: 116 +- subtask: Place the tea cup on the table with the left gripper. + subtask_index: 117 +- subtask: Place the square chewing gum on the table with the left gripper. + subtask_index: 118 +- subtask: Grasp the teapot with the left gripper. + subtask_index: 119 +- subtask: Grasp the banana with the right gripper. + subtask_index: 120 +- subtask: null. + subtask_index: 121 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 198 + total_frames: 100817 + fps: 30 + total_tasks: 122 + total_videos: 594 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 3.23 GB +frame_num: 100817 +frame_range: 1M +dataset_size: 3.23 GB +data_structure: 'Agilex_Cobot_Magic_move_object_red_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (186 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:197 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_move_pencil_sharpener.yaml b/dataset_info/Agilex_Cobot_Magic_move_pencil_sharpener.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e771821435ea04b779982e40011afa0e2f44ced9 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_pencil_sharpener.yaml @@ -0,0 +1,500 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_move_pencil_sharpener +dataset_uuid: 195e4802-dea6-4e2f-ad8b-bc37d31f56c3 +scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: deli_stapler +- object_name: deli_water_based_marker +- object_name: deli_watercolor_marker_box +- object_name: purple_incense +- object_name: pencil_sharpener +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the pencil sharpener on the left side of the stapler with the left gripper. +sub_tasks: +- subtask: Place the pencil sharpener to the left of the stapler with the left gripper. + subtask_index: 0 +- subtask: Grasp the pencil sharpene with the right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the pencil sharpene with the left gripper. + subtask_index: 3 +- subtask: Place the pencil sharpener to the left of the stapler with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 41602 + fps: 30 + total_tasks: 6 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 374.66 MB +frame_num: 41602 +frame_range: 100K +dataset_size: 374.66 MB +data_structure: 'Agilex_Cobot_Magic_move_pencil_sharpener_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_open_drawer_bottom.yaml b/dataset_info/Agilex_Cobot_Magic_open_drawer_bottom.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6b2a2911e1c48672f88a7be183496740ed48e35b --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_open_drawer_bottom.yaml @@ -0,0 +1,498 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_open_drawer_bottom +dataset_uuid: c6a3d441-aaa2-4837-876e-95ad740f1f58 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: three_layer_transparent_drawer +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the bottom drawer with the gripper. +sub_tasks: +- subtask: end. + subtask_index: 0 +- subtask: Pull open the drawer with the left gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: pick up the bottom drawer with the right gripper. + subtask_index: 3 +- subtask: Pull open the drawer with the right gripper. + subtask_index: 4 +- subtask: pick up the bottom drawer with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pull +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 18620 + fps: 30 + total_tasks: 7 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 182.16 MB +frame_num: 18620 +frame_range: 100K +dataset_size: 182.16 MB +data_structure: 'Agilex_Cobot_Magic_open_drawer_bottom_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_organize_desk_fail.yaml b/dataset_info/Agilex_Cobot_Magic_organize_desk_fail.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8fec6f04f38ccc5a06ededcdc42d75f2b00a17ce --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_organize_desk_fail.yaml @@ -0,0 +1,517 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_organize_desk_fail +dataset_uuid: 54232d1b-9d41-473d-8338-fb13d53104e9 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: pen_holder +- object_name: storage_box +- object_name: cola +- object_name: milk +- object_name: pen +- object_name: toilet_paper +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the empty pen holder with the hand, and then place the milk and cola into + the basket on the left with the hand. Place the pen holders one by one in the middle + with the hand, and then place the papers one by one into the box on the right with + the hand. +sub_tasks: +- subtask: Place the red marker pen in pen holder with the right gripper. + subtask_index: 0 +- subtask: Place the orange marker pen in pen holder with the right gripper. + subtask_index: 1 +- subtask: Place the waste paper into the box with the right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Grasp the black marker pen with the left gripper. + subtask_index: 4 +- subtask: Place the red marker pen in pen holder with the left gripper. + subtask_index: 5 +- subtask: Grasp the red marker pen with the right gripper. + subtask_index: 6 +- subtask: Place the cola can into the basket with the left gripper. + subtask_index: 7 +- subtask: Grasp the black marker pen with the right gripper. + subtask_index: 8 +- subtask: Grasp the orange marker pen with the right gripper. + subtask_index: 9 +- subtask: Place the black marker pen in pen holder with the right gripper. + subtask_index: 10 +- subtask: Place the orange marker pen in pen holder with the left gripper. + subtask_index: 11 +- subtask: Grasp the cola can with the left gripper. + subtask_index: 12 +- subtask: Grasp the orange marker pen with the left gripper. + subtask_index: 13 +- subtask: Place the milk into the basket with the left gripper. + subtask_index: 14 +- subtask: Grasp the milk with the left gripper. + subtask_index: 15 +- subtask: Grasp the waste paper with the right gripper. + subtask_index: 16 +- subtask: Place the black marker pen in pen holder with the left gripper. + subtask_index: 17 +- subtask: Grasp the red marker pen with the left gripper. + subtask_index: 18 +- subtask: null. + subtask_index: 19 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 117 + total_frames: 274558 + fps: 30 + total_tasks: 20 + total_videos: 351 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 4.17 GB +frame_num: 274558 +frame_range: 1M +dataset_size: 4.17 GB +data_structure: 'Agilex_Split_Aloha_organize_desk_fail_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (105 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:116 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_organize_test_tube.yaml b/dataset_info/Agilex_Cobot_Magic_organize_test_tube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eed343d2a889a961d6623d67c23e72a5c5c522f3 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_organize_test_tube.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_organize_test_tube +dataset_uuid: c0b8a453-c863-4a84-b75b-206900cf9da1 +scene_type: + level1: other + level2: laboratory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: test_tube_rack +- object_name: clear_test_tube +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the test tube on the table with the gripper. Place it back onto the test tube + rack with the gripper. +sub_tasks: +- subtask: Place the test tube on the test tube rack with the left gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Pick up the test tube with the right gripper. + subtask_index: 2 +- subtask: Move the test tube from the right gripper to the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 197 + total_frames: 159747 + fps: 30 + total_tasks: 6 + total_videos: 591 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 1.92 GB +frame_num: 159747 +frame_range: 1M +dataset_size: 1.92 GB +data_structure: 'Agilex_Cobot_Magic_organize_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (185 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:196 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_pass_object_left_to_right_black_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_pass_object_left_to_right_black_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..da057c8fb795a69f922e366d26f4180aed3cf776 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_pass_object_left_to_right_black_tablecloth.yaml @@ -0,0 +1,576 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_pass_object_left_to_right_black_tablecloth +dataset_uuid: 2c2ba02b-01eb-4940-9355-6fcf47c322d1 +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: ambrosial_yogurt +- object_name: banana +- object_name: long_bread +- object_name: milk +- object_name: yogurt +- object_name: grape +- object_name: ham_sausage +- object_name: eggplant +- object_name: chewing_gum +- object_name: eyeglass_case +- object_name: rubik's_cube +- object_name: purple_trash_bag +- object_name: cleanser +- object_name: bathing_in_flowers +- object_name: whiteboard_eraser +- object_name: candle +- object_name: black_table_cloths +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the item with the left gripper and transfer it to the right gripper with + the right gripper. +sub_tasks: +- subtask: Grasp the XX with the right gripper. + subtask_index: 0 +- subtask: Place the XX on the table with the left gripper. + subtask_index: 1 +- subtask: Place the XX on the table with the right gripper. + subtask_index: 2 +- subtask: Grasp the XX with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Pass the xx to the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- lift +- place +- pass +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 60078 + fps: 30 + total_tasks: 7 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 1.30 GB +frame_num: 60078 +frame_range: 100K +dataset_size: 1.30 GB +data_structure: 'Agilex_Cobot_Magic_pass_object_left_to_right_black_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- debug + + | |-- episode_0000 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0001 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0002 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0003 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0004 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0005 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0006 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0007 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0008 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0009 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0010 + + | | |-- images + + | | `-- trace_report.md + + | `-- episode_0011 + + | |-- images + + | `-- trace_report.md + + | `-- ... (39 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_pass_object_left_to_right_green_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_pass_object_left_to_right_green_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b457a035e1ecc064d72d7a49e05c2a20ce61207d --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_pass_object_left_to_right_green_tablecloth.yaml @@ -0,0 +1,556 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_pass_object_left_to_right_green_tablecloth +dataset_uuid: 6a855371-dcd3-462d-b5fb-3d0edaefce8e +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: ambrosial_yogurt +- object_name: banana +- object_name: long_bread +- object_name: milk +- object_name: yogurt +- object_name: grape +- object_name: ham_sausage +- object_name: eggplant +- object_name: chewing_gum +- object_name: eyeglass_case +- object_name: rubik's_cube +- object_name: purple_trash_bag +- object_name: cleanser +- object_name: bathing_in_flowers +- object_name: whiteboard_eraser +- object_name: candle +- object_name: green_table_cloths +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the item with the left gripper and transfer it to the right gripper with + the right gripper. +sub_tasks: +- subtask: Pass the purple garbage bag to the right gripper. + subtask_index: 0 +- subtask: Pass the eggplant to the right gripper. + subtask_index: 1 +- subtask: The right gripper places eggplant on the right side of the table. + subtask_index: 2 +- subtask: pick up the eggplant on the left side of the table. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Pass the yogurt to the right gripper. + subtask_index: 5 +- subtask: The right gripper places banana on the right side of the table. + subtask_index: 6 +- subtask: pick up the cleaning agent on the left side of the table. + subtask_index: 7 +- subtask: pick up the milk on the left side of the table. + subtask_index: 8 +- subtask: pick up the purple garbage bag on the left side of the table. + subtask_index: 9 +- subtask: pick up the yogurt on the left side of the table. + subtask_index: 10 +- subtask: pick up the eyeglass case on the left side of the table. + subtask_index: 11 +- subtask: The right gripper places cleaning agent on the right side of the table. + subtask_index: 12 +- subtask: Pass the cleaning agent to the right gripper. + subtask_index: 13 +- subtask: pick up the xx on the left side of the table. + subtask_index: 14 +- subtask: The right gripper places xx on the right side of the table. + subtask_index: 15 +- subtask: The right gripper places yogurt on the right side of the table. + subtask_index: 16 +- subtask: The right gripper places Rubik's Cube on the right side of the table. + subtask_index: 17 +- subtask: Pass the Rubik's Cube to the right gripper. + subtask_index: 18 +- subtask: Pass the eyeglass case to the right gripper. + subtask_index: 19 +- subtask: Pass the long bread to the right gripper. + subtask_index: 20 +- subtask: The right gripper places grape on the right side of the table. + subtask_index: 21 +- subtask: The right gripper places long bread on the right side of the table. + subtask_index: 22 +- subtask: pick up the grape on the left side of the table. + subtask_index: 23 +- subtask: pick up the long bread on the left side of the table. + subtask_index: 24 +- subtask: The right gripper places purple garbage bag on the right side of the table. + subtask_index: 25 +- subtask: pick up the Rubik's Cube on the left side of the table. + subtask_index: 26 +- subtask: Pass the banana to the right gripper. + subtask_index: 27 +- subtask: The right gripper places milk on the right side of the table. + subtask_index: 28 +- subtask: Pass the milk to the right gripper. + subtask_index: 29 +- subtask: The right gripper places eyeglass case on the right side of the table. + subtask_index: 30 +- subtask: Pass the grape to the right gripper. + subtask_index: 31 +- subtask: pick up the banana on the left side of the table. + subtask_index: 32 +- subtask: Pass the xx to the right gripper. + subtask_index: 33 +- subtask: null. + subtask_index: 34 +atomic_actions: +- grasp +- lift +- place +- pass +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 96 + total_frames: 64995 + fps: 30 + total_tasks: 35 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 795.75 MB +frame_num: 64995 +frame_range: 100K +dataset_size: 795.75 MB +data_structure: 'Agilex_Cobot_Magic_pass_object_left_to_right_green_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (84 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:95 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_pass_object_left_to_right_khaki_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_pass_object_left_to_right_khaki_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4f6a7aad07f9b530400a62db21efb811c24e209a --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_pass_object_left_to_right_khaki_tablecloth.yaml @@ -0,0 +1,570 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_pass_object_left_to_right_khaki_tablecloth +dataset_uuid: 0af54ed6-482b-4717-b31d-c02096391c85 +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: ambrosial_yogurt +- object_name: banana +- object_name: long_bread +- object_name: milk +- object_name: yogurt +- object_name: grape +- object_name: ham_sausage +- object_name: eggplant +- object_name: chewing_gum +- object_name: eyeglass_case +- object_name: rubik's_cube +- object_name: purple_trash_bag +- object_name: cleanser +- object_name: bathing_in_flowers +- object_name: whiteboard_eraser +- object_name: candle +- object_name: khaki_table_cloths +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the item with the left gripper and transfer it to the right gripper with + the right gripper. +sub_tasks: +- subtask: Pass the purple garbage bag to the right gripper. + subtask_index: 0 +- subtask: Pass the shower sphere to the right gripper. + subtask_index: 1 +- subtask: Place the milk on the table with the right gripper. + subtask_index: 2 +- subtask: Place the XX on the table with the right gripper. + subtask_index: 3 +- subtask: Pass the yogurt to the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Pass the milk to the right gripper. + subtask_index: 6 +- subtask: Place the purple garbage bag on the table with the right gripper. + subtask_index: 7 +- subtask: Place the Rubik's Cube on the table with the right gripper. + subtask_index: 8 +- subtask: Grasp the blue blackboard erasure with the left gripper. + subtask_index: 9 +- subtask: Grasp the shower sphere with the left gripper. + subtask_index: 10 +- subtask: Grasp the plush banana with the left gripper. + subtask_index: 11 +- subtask: Grasp the yogurt with the left gripper. + subtask_index: 12 +- subtask: Grasp the milk with the left gripper. + subtask_index: 13 +- subtask: Pass the plush banana to the right gripper. + subtask_index: 14 +- subtask: Place the blue blackboard erasure on the table with the right gripper. + subtask_index: 15 +- subtask: Abnormal. + subtask_index: 16 +- subtask: Grasp the XX with the left gripper. + subtask_index: 17 +- subtask: Grasp the blue blackboard erasure with the left grippe. + subtask_index: 18 +- subtask: Pass the Rubik's Cube to the right gripper. + subtask_index: 19 +- subtask: Place the milk on the table with the right gripper. + subtask_index: 20 +- subtask: Pass the long bread to the right gripper. + subtask_index: 21 +- subtask: Pass the milk to the right gripper. + subtask_index: 22 +- subtask: Pass the long bread to the right gripper. + subtask_index: 23 +- subtask: Grasp the milk with the left gripper. + subtask_index: 24 +- subtask: Pass the blue blackboard erasure to the right gripper. + subtask_index: 25 +- subtask: Place the long bread on the table with the right gripper. + subtask_index: 26 +- subtask: Grasp the long bread with the left gripper. + subtask_index: 27 +- subtask: Grasp the Rubik's Cube with the left gripper. + subtask_index: 28 +- subtask: Place the yogurt on the table with the right gripper. + subtask_index: 29 +- subtask: Place the plush banana on the table with the right gripper. + subtask_index: 30 +- subtask: Pass the milk to the right gripper. + subtask_index: 31 +- subtask: Place the grape on the table with the right gripper. + subtask_index: 32 +- subtask: Grasp the long bread with the left gripper. + subtask_index: 33 +- subtask: Pass the milk to the right gripper. + subtask_index: 34 +- subtask: Pass the grape to the right gripper. + subtask_index: 35 +- subtask: Pass the blue garbage bag to the right gripper. + subtask_index: 36 +- subtask: Pass the xx to the right gripper. + subtask_index: 37 +- subtask: Grasp the grape with the left gripper. + subtask_index: 38 +- subtask: Grasp the purple garbage bag with the left gripper. + subtask_index: 39 +- subtask: Place the shower sphere on the table with the right gripper. + subtask_index: 40 +- subtask: null. + subtask_index: 41 +atomic_actions: +- grasp +- lift +- place +- pass +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 97 + total_frames: 53653 + fps: 30 + total_tasks: 42 + total_videos: 291 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 636.04 MB +frame_num: 53653 +frame_range: 100K +dataset_size: 636.04 MB +data_structure: 'Agilex_Cobot_Magic_pass_object_left_to_right_khaki_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (85 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:96 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_pass_object_left_to_right_white_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_pass_object_left_to_right_white_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..955137577cc7295003f577156f8181a92db55fe1 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_pass_object_left_to_right_white_tablecloth.yaml @@ -0,0 +1,499 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_pass_object_left_to_right_white_tablecloth +dataset_uuid: d0d34e1e-6130-415d-ba5e-1f04dea04b9f +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: ambrosial_yogurt +- object_name: banana +- object_name: long_bread +- object_name: milk +- object_name: yogurt +- object_name: grape +- object_name: ham_sausage +- object_name: eggplant +- object_name: chewing_gum +- object_name: eyeglass_case +- object_name: rubik's_cube +- object_name: purple_trash_bag +- object_name: cleanser +- object_name: bathing_in_flowers +- object_name: whiteboard_eraser +- object_name: candle +- object_name: white_table_cloths +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the item with the left gripper and transfer it to the right gripper with + the right gripper. +sub_tasks: +- subtask: Unlabeled. + subtask_index: 0 +- subtask: Grasp the Rubik's Cube with the left gripper. + subtask_index: 1 +- subtask: Pass the Rubik's Cube to the right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the Rubik's Cube on the table with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- lift +- place +- pass +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 96 + total_frames: 55704 + fps: 30 + total_tasks: 6 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 546.67 MB +frame_num: 55704 +frame_range: 100K +dataset_size: 546.67 MB +data_structure: 'Agilex_Cobot_Magic_pass_object_left_to_right_white_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (84 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:95 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_pass_object_right_to_left_black_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_pass_object_right_to_left_black_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8355bbbb34a0192deef41f3a1507499dc1a49b33 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_pass_object_right_to_left_black_tablecloth.yaml @@ -0,0 +1,549 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_pass_object_right_to_left_black_tablecloth +dataset_uuid: 17c5373d-9645-4973-9d93-416d0ec5293e +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: ambrosial_yogurt +- object_name: banana +- object_name: long_bread +- object_name: milk +- object_name: yogurt +- object_name: grape +- object_name: ham_sausage +- object_name: eggplant +- object_name: chewing_gum +- object_name: eyeglass_case +- object_name: rubik's_cube +- object_name: purple_trash_bag +- object_name: cleanser +- object_name: bathing_in_flowers +- object_name: whiteboard_eraser +- object_name: candle +- object_name: black_table_cloths +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the item with the right gripper and transfer it to the left gripper. +sub_tasks: +- subtask: The left gripper places milk on the left side of the table. + subtask_index: 0 +- subtask: The left gripper places bread on the left side of the table. + subtask_index: 1 +- subtask: Pass the bread to the left gripper. + subtask_index: 2 +- subtask: Pass the shower sphere to the left gripper. + subtask_index: 3 +- subtask: pick up the bread on the right side of the table. + subtask_index: 4 +- subtask: pick up the grape on the right side of the table. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: pick up the banana on the right side of the table. + subtask_index: 7 +- subtask: Pass the purple garbage bag to the left gripper. + subtask_index: 8 +- subtask: Pass the Rubik's Cube to the left gripper. + subtask_index: 9 +- subtask: The left gripper places yogurt on the left side of the table. + subtask_index: 10 +- subtask: The left gripper places shower sphere on the left side of the table. + subtask_index: 11 +- subtask: pick up the shower sphere on the right side of the table. + subtask_index: 12 +- subtask: pick up the grapes on the right side of the table. + subtask_index: 13 +- subtask: Pass the yogurt to the left gripper. + subtask_index: 14 +- subtask: The left gripper places grape on the left side of the table. + subtask_index: 15 +- subtask: The left gripper places grapes on the left side of the table. + subtask_index: 16 +- subtask: pick up the milk on the right side of the table. + subtask_index: 17 +- subtask: Pass the milk to the left gripper. + subtask_index: 18 +- subtask: The left gripper places banana on the left side of the table. + subtask_index: 19 +- subtask: pick up the eyeglass case on the right side of the table. + subtask_index: 20 +- subtask: Pass the banana to the left gripper. + subtask_index: 21 +- subtask: Pass the grapes to the left gripper. + subtask_index: 22 +- subtask: pick up the purple garbage bag on the right side of the table. + subtask_index: 23 +- subtask: Pass the grape to the left gripper. + subtask_index: 24 +- subtask: The left gripper places eyeglass case on the left side of the table. + subtask_index: 25 +- subtask: Pass the eyeglass case to the left gripper. + subtask_index: 26 +- subtask: pick up the yogurt on the right side of the table. + subtask_index: 27 +- subtask: pick up the Rubik's Cube on the right side of the table. + subtask_index: 28 +- subtask: Pass the milk to the left gripper. + subtask_index: 29 +- subtask: The left gripper places purple garbage bag on the left side of the table. + subtask_index: 30 +- subtask: null. + subtask_index: 31 +atomic_actions: +- grasp +- lift +- place +- pass +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 93 + total_frames: 59541 + fps: 30 + total_tasks: 32 + total_videos: 279 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 1.15 GB +frame_num: 59541 +frame_range: 100K +dataset_size: 1.15 GB +data_structure: 'Agilex_Cobot_Magic_pass_object_right_to_left_black_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (81 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:92 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_pass_object_right_to_left_green_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_pass_object_right_to_left_green_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ad99f9480a8499916078925ec41c4e5c934536ec --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_pass_object_right_to_left_green_tablecloth.yaml @@ -0,0 +1,591 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_pass_object_right_to_left_green_tablecloth +dataset_uuid: 51fb1bea-635a-41f0-b91f-8a479329e627 +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: ambrosial_yogurt +- object_name: banana +- object_name: long_bread +- object_name: milk +- object_name: yogurt +- object_name: grape +- object_name: ham_sausage +- object_name: eggplant +- object_name: chewing_gum +- object_name: eyeglass_case +- object_name: rubik's_cube +- object_name: purple_trash_bag +- object_name: cleanser +- object_name: bathing_in_flowers +- object_name: whiteboard_eraser +- object_name: candle +- object_name: green_table_cloths +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the item with the right gripper and transfer it to the left gripper. +sub_tasks: +- subtask: The left gripper places milk on the left side of the table. + subtask_index: 0 +- subtask: The left gripper places bread on the left side of the table. + subtask_index: 1 +- subtask: pick up the shampoo on the right side of the table. + subtask_index: 2 +- subtask: Use the right to pick up the bread on the right side of table. + subtask_index: 3 +- subtask: Pass the bread to the left gripper. + subtask_index: 4 +- subtask: pick up the bread on the right side of the table. + subtask_index: 5 +- subtask: The left gripper places grape on the left side of the table. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: The left gripper places bread on the left side of the table. + subtask_index: 8 +- subtask: Pass the eggplant to the left gripper. + subtask_index: 9 +- subtask: The left gripper places yogurt on the left side of the table. + subtask_index: 10 +- subtask: Pass the purple garbage bag to the left gripper. + subtask_index: 11 +- subtask: pick up the xbreadon the right side of the table. + subtask_index: 12 +- subtask: The left gripper places yogurt on the left side of the table. + subtask_index: 13 +- subtask: Pass the Rubik's Cube to the left gripper. + subtask_index: 14 +- subtask: pick up the grape on the right side of the table. + subtask_index: 15 +- subtask: pick up the grape on the right side of the table. + subtask_index: 16 +- subtask: Pass the yogurt to the left gripper. + subtask_index: 17 +- subtask: Pass the bread to the left gripper. + subtask_index: 18 +- subtask: pick up the yogurt on the right side of the table. + subtask_index: 19 +- subtask: Pass the grape to the left grippe. + subtask_index: 20 +- subtask: pick up the milk on the right side of the table. + subtask_index: 21 +- subtask: The left gripper places shampoo on the left side of the table. + subtask_index: 22 +- subtask: The left gripper places grape on the left side of the table. + subtask_index: 23 +- subtask: The left gripper places eggplant on the left side of the table. + subtask_index: 24 +- subtask: pick up the milk on the right side of the table. + subtask_index: 25 +- subtask: Pass the milk to the left gripper. + subtask_index: 26 +- subtask: The left gripper places banana on the left side of the table. + subtask_index: 27 +- subtask: The left gripper places milk on the left side of the table. + subtask_index: 28 +- subtask: The left gripper places xx on the left side of the table. + subtask_index: 29 +- subtask: Pass the shampoo to the left gripper. + subtask_index: 30 +- subtask: Pass the bread to the left gripper. + subtask_index: 31 +- subtask: pick up the bread on the right side of the table. + subtask_index: 32 +- subtask: The left gripper places purple garbage bag on the left side of the table. + subtask_index: 33 +- subtask: pick up the xx on the right side of the table. + subtask_index: 34 +- subtask: Pass the milk to the left gripper. + subtask_index: 35 +- subtask: Pass the banana to the left gripper. + subtask_index: 36 +- subtask: Pass the shampoo to the left gripper. + subtask_index: 37 +- subtask: The left gripper places Rubik's Cube on the left side of the table. + subtask_index: 38 +- subtask: pick up the purple garbage bag on the right side of the table. + subtask_index: 39 +- subtask: Pass the yogurt to the left gripper. + subtask_index: 40 +- subtask: Pass the bread to the left gripper. + subtask_index: 41 +- subtask: shampoo the on the right side of the table. + subtask_index: 42 +- subtask: User the right gripper to pick up the grape on the right side of the table. + subtask_index: 43 +- subtask: The left gripper places milk on the left side of the table. + subtask_index: 44 +- subtask: pick up the yogurt on the right side of the table. + subtask_index: 45 +- subtask: The left gripper places yogurt on the left side of the table. + subtask_index: 46 +- subtask: pick up the shampoo on the right side of the table. + subtask_index: 47 +- subtask: pick up the Rubik's Cube on the right side of the table. + subtask_index: 48 +- subtask: Pass the milk to the left gripper. + subtask_index: 49 +- subtask: Pass the grape to the left gripper. + subtask_index: 50 +- subtask: Pass the grape to the left gripper. + subtask_index: 51 +- subtask: null. + subtask_index: 52 +atomic_actions: +- grasp +- lift +- place +- pass +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 69065 + fps: 30 + total_tasks: 53 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 884.47 MB +frame_num: 69065 +frame_range: 100K +dataset_size: 884.47 MB +data_structure: 'Agilex_Cobot_Magic_pass_object_right_to_left_green_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_pass_object_right_to_left_khaki_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_pass_object_right_to_left_khaki_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c9235776f9210db6f375700b9200a753aacd9b64 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_pass_object_right_to_left_khaki_tablecloth.yaml @@ -0,0 +1,490 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_pass_object_right_to_left_khaki_tablecloth +dataset_uuid: f6132371-e9d1-42a5-9293-8848434b8bc1 +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: ambrosial_yogurt +- object_name: banana +- object_name: long_bread +- object_name: milk +- object_name: yogurt +- object_name: grape +- object_name: ham_sausage +- object_name: eggplant +- object_name: chewing_gum +- object_name: eyeglass_case +- object_name: rubik's_cube +- object_name: purple_trash_bag +- object_name: cleanser +- object_name: bathing_in_flowers +- object_name: whiteboard_eraser +- object_name: candle +- object_name: khaki_table_cloths +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the item with the right gripper and transfer it to the left gripper. +sub_tasks: +- subtask: Unlabeled. + subtask_index: 0 +- subtask: null. + subtask_index: 1 +atomic_actions: +- grasp +- lift +- place +- pass +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 64158 + fps: 30 + total_tasks: 2 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 749.82 MB +frame_num: 64158 +frame_range: 100K +dataset_size: 749.82 MB +data_structure: 'Agilex_Cobot_Magic_pass_object_right_to_left_khaki_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_pass_object_right_to_left_red_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_pass_object_right_to_left_red_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f9367b5198b1c7eb1f288fe93ad597fefe7f291f --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_pass_object_right_to_left_red_tablecloth.yaml @@ -0,0 +1,568 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_pass_object_right_to_left_red_tablecloth +dataset_uuid: 471da8f6-7617-4488-8a4f-82fe34f146d8 +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: ambrosial_yogurt +- object_name: banana +- object_name: long_bread +- object_name: milk +- object_name: yogurt +- object_name: grape +- object_name: ham_sausage +- object_name: eggplant +- object_name: chewing_gum +- object_name: eyeglass_case +- object_name: rubik's_cube +- object_name: purple_trash_bag +- object_name: cleanser +- object_name: bathing_in_flowers +- object_name: whiteboard_eraser +- object_name: candle +- object_name: red_table_cloths +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the item with the right gripper and transfer it to the left gripper. +sub_tasks: +- subtask: The left gripper places milk on the left side of the table. + subtask_index: 0 +- subtask: The left gripper places anmuxi on the left side of the table. + subtask_index: 1 +- subtask: The left gripper places Rubik's Cube on the left side of the table. + subtask_index: 2 +- subtask: Pass the blue blackboard erasure to the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Pass the eggplant to the left gripper. + subtask_index: 5 +- subtask: Pass the Rubik's Cube to the left gripper. + subtask_index: 6 +- subtask: The left gripper places yogurt on the left side of the table. + subtask_index: 7 +- subtask: Pass the square chewing gum to the left gripper. + subtask_index: 8 +- subtask: pick up the grape on the right side of the table. + subtask_index: 9 +- subtask: Pass the yogurt to the left gripper. + subtask_index: 10 +- subtask: The left gripper places eggplant on the left side of the table. + subtask_index: 11 +- subtask: The left gripper places grape on the left side of the table. + subtask_index: 12 +- subtask: pick up the milk on the right side of the table. + subtask_index: 13 +- subtask: Pass the milk to the left gripper. + subtask_index: 14 +- subtask: pick up the eggplant on the right side of the table. + subtask_index: 15 +- subtask: The left gripper places xx on the left side of the table. + subtask_index: 16 +- subtask: Pass the shower sphereto the left gripper. + subtask_index: 17 +- subtask: pick up the shower sphere on the right side of the table. + subtask_index: 18 +- subtask: pick up the Anmuxi on the right side of the table. + subtask_index: 19 +- subtask: pick up the xx on the right side of the table. + subtask_index: 20 +- subtask: The left gripper places shower sphere on the left side of the table. + subtask_index: 21 +- subtask: pick up the blue blackboard erasure on the right side of the table. + subtask_index: 22 +- subtask: pick up the plush banana on the right side of the table. + subtask_index: 23 +- subtask: Pass the plush banana to the left gripper. + subtask_index: 24 +- subtask: Pass the shower sphere to the left gripper. + subtask_index: 25 +- subtask: Pass the to the yogurt left gripper. + subtask_index: 26 +- subtask: The left gripper places blue blackboard erasure on the left side of the + table. + subtask_index: 27 +- subtask: The left gripper places plush banana on the left side of the table. + subtask_index: 28 +- subtask: pick up the square chewing gum on the right side of the table. + subtask_index: 29 +- subtask: The left gripper places square chewing gum on the left side of the table. + subtask_index: 30 +- subtask: The left gripper places eyeglass case on the left side of the table. + subtask_index: 31 +- subtask: Pass the xx to the left gripper. + subtask_index: 32 +- subtask: Pass the eyeglass case to the left gripper. + subtask_index: 33 +- subtask: pick up the yogurt on the right side of the table. + subtask_index: 34 +- subtask: pick up the eyeglass case on the right side of the table. + subtask_index: 35 +- subtask: Pass the yogurt to the left gripper. + subtask_index: 36 +- subtask: pick up the Rubik's Cube on the right side of the table. + subtask_index: 37 +- subtask: Pass the anmuxi to the left gripper. + subtask_index: 38 +- subtask: Pass the grape to the left gripper. + subtask_index: 39 +- subtask: null. + subtask_index: 40 +atomic_actions: +- grasp +- lift +- place +- pass +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 58861 + fps: 30 + total_tasks: 41 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 1.43 GB +frame_num: 58861 +frame_range: 100K +dataset_size: 1.43 GB +data_structure: 'Agilex_Cobot_Magic_pass_object_right_to_left_red_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_pass_object_right_to_left_white_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_pass_object_right_to_left_white_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..02867bffd3fa498cdf38596b33e66e5946847c75 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_pass_object_right_to_left_white_tablecloth.yaml @@ -0,0 +1,570 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_pass_object_right_to_left_white_tablecloth +dataset_uuid: 0eca9458-d3e1-4681-aa05-21d5d8cd54f7 +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: ambrosial_yogurt +- object_name: banana +- object_name: long_bread +- object_name: milk +- object_name: yogurt +- object_name: grape +- object_name: ham_sausage +- object_name: eggplant +- object_name: chewing_gum +- object_name: eyeglass_case +- object_name: rubik's_cube +- object_name: purple_trash_bag +- object_name: cleanser +- object_name: bathing_in_flowers +- object_name: whiteboard_eraser +- object_name: candle +- object_name: white_table_cloths +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the item with the right gripper and transfer it to the left gripper. +sub_tasks: +- subtask: The left gripper places milk on the left side of the table. + subtask_index: 0 +- subtask: Pass the square chewing gun to the left gripper. + subtask_index: 1 +- subtask: The left gripper places Rubik's Cube on the left side of the table. + subtask_index: 2 +- subtask: Pass the yogurt to the left gripper. + subtask_index: 3 +- subtask: The left gripper places grey towel on the left side of the table. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: pick up the banana on the right side of the table. + subtask_index: 6 +- subtask: The left gripper places bananal on the left side of the table. + subtask_index: 7 +- subtask: Pass the shower spherer to the left gripper. + subtask_index: 8 +- subtask: The left gripper places yogurt on the left side of the table. + subtask_index: 9 +- subtask: Pass the eggplant to the left gripper. + subtask_index: 10 +- subtask: Pass the eyeglass case to the left gripper. + subtask_index: 11 +- subtask: pick up the banana on the right side of the table. + subtask_index: 12 +- subtask: The left gripper places eggplant on the left side of the table. + subtask_index: 13 +- subtask: Pass the eggplant to the left gripper. + subtask_index: 14 +- subtask: pick up the milk on the right side of the table. + subtask_index: 15 +- subtask: The left gripper places banana on the left side of the table. + subtask_index: 16 +- subtask: Pass the Rubik's Cube to the left gripper. + subtask_index: 17 +- subtask: pick up the eggplant on the right side of the table. + subtask_index: 18 +- subtask: pick up the square chewing gun on the right side of the table. + subtask_index: 19 +- subtask: pick up the banana the on right side of the table. + subtask_index: 20 +- subtask: pick up the shower sphere on the right side of the table. + subtask_index: 21 +- subtask: pick up the bananal on the right side of the table. + subtask_index: 22 +- subtask: The left gripper places shower sphere on the left side of the table. + subtask_index: 23 +- subtask: Pass the grey towel to the left gripper. + subtask_index: 24 +- subtask: pick up the blue blackboard erasure on the right side of the table. + subtask_index: 25 +- subtask: Pass the banana to the left gripper. + subtask_index: 26 +- subtask: pick up the purple garbage bag on the right side of the table. + subtask_index: 27 +- subtask: Pass the purple garbage bag to the left gripper. + subtask_index: 28 +- subtask: The left gripper places blue blackboard erasure on the left side of the + table. + subtask_index: 29 +- subtask: pick up the eggplant on the right side of the table. + subtask_index: 30 +- subtask: pick up the square chewing gum on the right side of the table. + subtask_index: 31 +- subtask: The left gripper places square chewing gun on the left side of the table. + subtask_index: 32 +- subtask: Pass the shower sphere to the left gripper. + subtask_index: 33 +- subtask: The left gripper places eyeglass case on the left side of the table. + subtask_index: 34 +- subtask: pick up the yogurt on the right side of the table. + subtask_index: 35 +- subtask: Pass the blue blackboard erasure to the left gripper. + subtask_index: 36 +- subtask: pick up the eyeglass case on the right side of the table. + subtask_index: 37 +- subtask: pick up the Rubik's Cube on the right side of the table. + subtask_index: 38 +- subtask: Pass the milk to the left gripper. + subtask_index: 39 +- subtask: The left gripper places purple garbage bag on the left side of the table. + subtask_index: 40 +- subtask: null. + subtask_index: 41 +atomic_actions: +- grasp +- lift +- place +- pass +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 52998 + fps: 30 + total_tasks: 42 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 508.79 MB +frame_num: 52998 +frame_range: 100K +dataset_size: 508.79 MB +data_structure: 'Agilex_Cobot_Magic_pass_object_right_to_left_white_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_place_towel_flat.yaml b/dataset_info/Agilex_Cobot_Magic_place_towel_flat.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ed4f98c3c7dd62b9cbfe95789890efd5d989ac23 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_place_towel_flat.yaml @@ -0,0 +1,531 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_place_towel_flat +dataset_uuid: d856a081-4998-43c9-8ba9-1b28f52a0f6e +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: blue_towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the towel from the basket with the gripper and lay it flat on the table. +sub_tasks: +- subtask: Right gripper:adjust the blue towel. + subtask_index: 0 +- subtask: 'Left gripper: pick up the brown towel.' + subtask_index: 1 +- subtask: 'Left gripper: lift the blue towel to the center of view.' + subtask_index: 2 +- subtask: 'Right gripper: pick up a corner of the blue towel and straighten it.' + subtask_index: 3 +- subtask: 'Right gripper: spread the blue towel flat on the table.' + subtask_index: 4 +- subtask: 'Right gripper: pick up a corner of the purple towel and straighten it.' + subtask_index: 5 +- subtask: 'Left gripper: spread the brown towel flat on the table.' + subtask_index: 6 +- subtask: 'Right gripper: spread the purple towel flat on the table.' + subtask_index: 7 +- subtask: 'Right gripper: spread the grey towel flat on the table.' + subtask_index: 8 +- subtask: 'Left gripper: spread the purple towel flat on the table.' + subtask_index: 9 +- subtask: Left gripper:adjust the gray towel. + subtask_index: 10 +- subtask: Left gripper:adjust the brown towel. + subtask_index: 11 +- subtask: Abnormal. + subtask_index: 12 +- subtask: 'Right gripper: pick up a corner of the grey towel and straighten it.' + subtask_index: 13 +- subtask: 'Left gripper: pick up the grey towel.' + subtask_index: 14 +- subtask: 'Left gripper: lift the purple towel to the center of view.' + subtask_index: 15 +- subtask: Right gripper:adjust the brown towel. + subtask_index: 16 +- subtask: 'Left gripper: lift the brown towel to the center of view.' + subtask_index: 17 +- subtask: 'Left gripper: pick up the blue towel.' + subtask_index: 18 +- subtask: 'Left gripper: lift the grey towel to the center of view.' + subtask_index: 19 +- subtask: 'Right gripper: spread the brown towel flat on the table.' + subtask_index: 20 +- subtask: Left gripper:adjust the blue towel. + subtask_index: 21 +- subtask: 'Right gripper: pick up a corner of the brown towel and straighten it.' + subtask_index: 22 +- subtask: 'Left gripper: spread the grey towel flat on the table.' + subtask_index: 23 +- subtask: End. + subtask_index: 24 +- subtask: Right gripper:adjust the gray towel. + subtask_index: 25 +- subtask: 'Left gripper: spread the blue towel flat on the table.' + subtask_index: 26 +- subtask: 'Left gripper: pick up the purple towel.' + subtask_index: 27 +- subtask: null. + subtask_index: 28 +atomic_actions: +- grasp +- fold +- lift +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 962 + total_frames: 1023212 + fps: 30 + total_tasks: 29 + total_videos: 2886 + total_chunks: 1 + chunks_size: 10000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 62.89 GB +frame_num: 1023212 +frame_range: 10M +dataset_size: 62.89 GB +data_structure: 'Agilex_Cobot_Magic_place_towel_flat_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (950 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:961 + val: 795:894 + test: 894:994 +features: + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_plate_storage.yaml b/dataset_info/Agilex_Cobot_Magic_plate_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a0c92688c7d29ba766acbba04a0a3bba9d88370b --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_plate_storage.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_plate_storage +dataset_uuid: 7f2dd151-758c-4265-89b3-5d486f875ef8 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plate +- object_name: plate_rack +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the plate on the plate rack with the gripper. +- Grasp the green plate with the left gripper, pass the green plate to the right gripper + with the left gripper, and place the green plate on the plate rack with the right + gripper. +- Grasp the pink plate with the left gripper, pass the pink plate to the right gripper + with the left gripper, and place the pink plate on the plate rack with the right + gripper. +- Grasp the green plate with the right gripper, pass the green plate to the left gripper + with the right gripper, and place the green plate on the plate rack with the left + gripper. +- Grasp the pink plate with the right gripper, pass the pink plate to the left gripper + with the right gripper, and place the pink plate on the plate rack with the left + gripper. +sub_tasks: +- subtask: Pass the plate from the left gripper to the right gripper. + subtask_index: 0 +- subtask: Place the plate on the shelf. + subtask_index: 1 +- subtask: Pass the plate from the right gripper to the left gripper. + subtask_index: 2 +- subtask: Pick up the plate with the left gripper. + subtask_index: 3 +- subtask: Pick up the plate with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 499 + total_frames: 229687 + fps: 30 + total_tasks: 6 + total_videos: 1497 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 2.60 GB +frame_num: 229687 +frame_range: 1M +dataset_size: 2.60 GB +data_structure: 'Split_aloha_plate_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (487 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:498 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_pour_drink_bottle_cup.yaml b/dataset_info/Agilex_Cobot_Magic_pour_drink_bottle_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..85673f848940c8b334fce4d4170cc0149c853be5 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_pour_drink_bottle_cup.yaml @@ -0,0 +1,593 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_pour_drink_bottle_cup +dataset_uuid: 3b906428-ddf0-41fa-8123-6df861880ea5 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cup +- object_name: water_Bottle +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the bottle of the drink with a gripper and pour it into a random cup. +sub_tasks: +- subtask: Pour the cranberry juice into the cyan cup with the right gripper. + subtask_index: 0 +- subtask: Pour the cranberry juice into the paper cup with the right gripper. + subtask_index: 1 +- subtask: end. + subtask_index: 2 +- subtask: Pour the cranberry juice into the White Plastic Cup with the left gripper. + subtask_index: 3 +- subtask: Place the mineral water bottle on the table with the left gripper. + subtask_index: 4 +- subtask: Pour the mineral water into the paper cup with the left gripper. + subtask_index: 5 +- subtask: Grasp the mineral water bottle with the left gripper. + subtask_index: 6 +- subtask: Pour the cranberry juice into the cyan cup with the left gripper. + subtask_index: 7 +- subtask: Pour the cranberry juice into the White Plastic Cup with the right gripper. + subtask_index: 8 +- subtask: Abnormal. + subtask_index: 9 +- subtask: Pour the mineral water into the glass with the right gripper. + subtask_index: 10 +- subtask: Place the cranberry juice bottle on the table with the right gripper. + subtask_index: 11 +- subtask: Pour the cranberry juice into the paper cup with the left gripper. + subtask_index: 12 +- subtask: Grasp the cranberry juice bottle with the right gripper. + subtask_index: 13 +- subtask: Pour the mineral water into the cyan cup with the left gripper. + subtask_index: 14 +- subtask: Grasp the cranberry juice bottle with the left gripper. + subtask_index: 15 +- subtask: Place the cranberry juice bottle on the table with the left gripper. + subtask_index: 16 +- subtask: Place the mineral water bottle on the table with the right gripper. + subtask_index: 17 +- subtask: Grasp the mineral water bottle with the right gripper. + subtask_index: 18 +- subtask: Pour the mineral water into the cyan cup with the right gripper. + subtask_index: 19 +- subtask: Pour the mineral water into the paper cup with the right gripper. + subtask_index: 20 +- subtask: Pour the mineral water into the glass with the left gripper. + subtask_index: 21 +- subtask: null. + subtask_index: 22 +atomic_actions: +- grasp +- lift +- pour +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 195 + total_frames: 201530 + fps: 30 + total_tasks: 23 + total_videos: 585 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 1.72 GB +frame_num: 201530 +frame_range: 1M +dataset_size: 1.72 GB +data_structure: 'Agilex_Cobot_Magic_pour_drink_bottle_cup_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (183 more entries) + + |-- debug + + | |-- episode_0000 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0001 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0002 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0003 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0004 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0005 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0006 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0007 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0008 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0009 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0010 + + | | |-- images + + | | `-- trace_report.md + + | `-- episode_0011 + + | |-- images + + | `-- trace_report.md + + | `-- ... (39 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:194 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_pour_drink_bottle_cup_cup.yaml b/dataset_info/Agilex_Cobot_Magic_pour_drink_bottle_cup_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ae7d67c41f2863872d1bb2ca538e5999b64198ff --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_pour_drink_bottle_cup_cup.yaml @@ -0,0 +1,558 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_pour_drink_bottle_cup_cup +dataset_uuid: 0b8d5fcf-c684-4e26-9c6a-5ddca5d94ede +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cup +- object_name: water_bottle +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the bottle of the drink with a clamp, pour the beverage into a random cup + with the clamp, then clamp the cup containing the drink and pour the drink into + another random cup with the clamp. +sub_tasks: +- subtask: Right gripper. + subtask_index: 0 +- subtask: Pour the water into the blue plastic cup with left gripper. + subtask_index: 1 +- subtask: Pour water into the green plastic cup with right gripper. + subtask_index: 2 +- subtask: Place the water bottle on the table with right gripper. + subtask_index: 3 +- subtask: Pour water into the green plastic cup with left gripper. + subtask_index: 4 +- subtask: Pour the drink into the blue plastic cup with left gripper. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: Left gripper. + subtask_index: 7 +- subtask: Pick up the blue plastic cup bottle with right gripper. + subtask_index: 8 +- subtask: Pick up the green plastic cup bottle with right gripper. + subtask_index: 9 +- subtask: Place the green plastic cup on the table with right gripper. + subtask_index: 10 +- subtask: Pick up the drink bottle with right gripper. + subtask_index: 11 +- subtask: Pour water into the paper cup with right gripper. + subtask_index: 12 +- subtask: Place the blue plastic cup on the table with left gripper. + subtask_index: 13 +- subtask: Pour the water into the green plastic cup with left gripper. + subtask_index: 14 +- subtask: Pick up the drink bottle with left gripper. + subtask_index: 15 +- subtask: Place the paper cup on the table with left gripper. + subtask_index: 16 +- subtask: Pour water into the blue plastic cup with right gripper. + subtask_index: 17 +- subtask: Pick up the blue plastic cup with left gripper. + subtask_index: 18 +- subtask: Place the blue plastic cup on the table with right gripper. + subtask_index: 19 +- subtask: Pour water into the blue plastic cup with left gripper. + subtask_index: 20 +- subtask: Grasp the drink bottle with right gripper. + subtask_index: 21 +- subtask: Pour water into the paper cup with left gripper. + subtask_index: 22 +- subtask: Pick up the green plastic cup with left gripper. + subtask_index: 23 +- subtask: Pick up the water bottle with left gripper. + subtask_index: 24 +- subtask: Place the green plastic cup on the table with left gripper. + subtask_index: 25 +- subtask: Pick up the paper cup with right gripper. + subtask_index: 26 +- subtask: Pick up the green plastic cup bottle with left gripper. + subtask_index: 27 +- subtask: Pick up the blue plastic cup with right gripper. + subtask_index: 28 +- subtask: Pour the drink into the green plastic cup with left gripper. + subtask_index: 29 +- subtask: Pick up the blue plastic cup bottle with left gripper. + subtask_index: 30 +- subtask: Pick up the green plastic cup with right gripper. + subtask_index: 31 +- subtask: Place the paper cup on the table with right gripper. + subtask_index: 32 +- subtask: Pour the drink into the paper cup with right gripper. + subtask_index: 33 +- subtask: Place the drink bottle on the table with right gripper. + subtask_index: 34 +- subtask: Pick up the water bottle with right gripper. + subtask_index: 35 +- subtask: Place the water bottle on the table with left gripper. + subtask_index: 36 +- subtask: Place the drink bottle on the table with left gripper. + subtask_index: 37 +- subtask: Pour the drink into the blue plastic cup with right gripper. + subtask_index: 38 +- subtask: Pick up the paper cup with left gripper. + subtask_index: 39 +- subtask: Pour the drink into the paper cup with left gripper. + subtask_index: 40 +- subtask: Pour the drink into the green plastic cup with right gripper. + subtask_index: 41 +- subtask: null. + subtask_index: 42 +atomic_actions: +- grasp +- lift +- pour +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 200 + total_frames: 342450 + fps: 30 + total_tasks: 43 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 2.67 GB +frame_num: 342450 +frame_range: 1M +dataset_size: 2.67 GB +data_structure: 'Agilex_Cobot_Magic_pour_drink_bottle_cup_cup_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (188 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:199 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_pour_rice.yaml b/dataset_info/Agilex_Cobot_Magic_pour_rice.yaml new file mode 100644 index 0000000000000000000000000000000000000000..547dbe59356d8b453995896ed0395334a9670d5b --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_pour_rice.yaml @@ -0,0 +1,507 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_pour_rice +dataset_uuid: 004a37ce-a00a-4547-a5a0-0538af2c8a99 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: rice +- object_name: rice_container +- object_name: cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the rice container in the center of the table with the right gripper. Pour + the rice into the rice container with the left gripper. +sub_tasks: +- subtask: Grasp the cup with rice in it with left gripper. + subtask_index: 0 +- subtask: Place the bowl in the center of view with the right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: end. + subtask_index: 3 +- subtask: Place the cup on the table with the left gripper. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: Pick up the bowl with the right gripper. + subtask_index: 6 +- subtask: Abnormal. + subtask_index: 7 +- subtask: Move the bowl in the center of view with right gripper. + subtask_index: 8 +- subtask: Move the bowl to the center of view with the right gripper. + subtask_index: 9 +- subtask: Pick up the cup with rice in it with the left gripper. + subtask_index: 10 +- subtask: Pour the rice from the cup into the bowl with the left gripper. + subtask_index: 11 +- subtask: null. + subtask_index: 12 +atomic_actions: +- place +- pick +- grasp +- pour +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 740 + total_frames: 504182 + fps: 30 + total_tasks: 13 + total_videos: 2220 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 4.90 GB +frame_num: 504182 +frame_range: 1M +dataset_size: 4.90 GB +data_structure: 'Split_aloha_pour_rice_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (728 more entries) + + |-- logs + + | `-- collect + + | |-- collect_20260520140250.log + + | |-- collect_20260521130415.log + + | |-- collect_20260521131832.log + + | |-- collect_20260521131947.log + + | |-- collect_20260521182659.log + + | `-- collect_20260521191535.log + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:739 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_pour_tea.yaml b/dataset_info/Agilex_Cobot_Magic_pour_tea.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2ccf959014a95049dc2ba8ab5fe4c6f4244a590d --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_pour_tea.yaml @@ -0,0 +1,796 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_pour_tea +dataset_uuid: dc22129e-7334-4a8e-b843-438763c0a08f +scene_type: + level1: household + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: teacup +- object_name: teapot +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pour tea into the teacup. +- the left gripper grasp the teacup and place it in the center of the table, the right + gripper grasp the teapot and pour tea into the teacup, the right gripper set down + the teapot. +- the right gripper grasp the teacup and place it in the center of the table, the + left gripper grasp the teapot and pour tea into the teacup, the left gripper set + down the teapot. +- grasp the blue porcelain teapot and pour the tea into the two blue porcelain teacups + one by one, put the blue porcelain teapot back in its original place. +- grasp the brown teapot and pour the tea into the two brown teacups one by one, put + the brown teapot back in its original place. +- grasp the brown teapot and pour the tea into the two white teacups one by one, put + the brown teapot back in its original place. +- grasp the stainless steel teapot and pour the tea into the two stainless steel teacups + one by one, put the stainless steel teapot back in its original place. +sub_tasks: +- subtask: Pick up the teacup with the left gripper + subtask_index: 0 +- subtask: End + subtask_index: 1 +- subtask: Place the teacup in the center of view with the right gripper + subtask_index: 2 +- subtask: Pick up the teapot with the left gripper + subtask_index: 3 +- subtask: Pick up the teapot with the right gripper + subtask_index: 4 +- subtask: Abnormal + subtask_index: 5 +- subtask: Pick up the teacup with the right gripper + subtask_index: 6 +- subtask: Place the down the teapot with the left gripper + subtask_index: 7 +- subtask: Grasp the teapot with left gripper + subtask_index: 8 +- subtask: Put down the teapot with left gripper + subtask_index: 9 +- subtask: Pour tea into the teacup with right gripper + subtask_index: 10 +- subtask: Put down the teapot with right gripper + subtask_index: 11 +- subtask: Pour tea into the teacup with left gripper + subtask_index: 12 +- subtask: Pour tea into the teacup with the right gripper + subtask_index: 13 +- subtask: Grasp the teapot with right gripper + subtask_index: 14 +- subtask: Pour tea into the teacup with the left gripper + subtask_index: 15 +- subtask: Place the down the teapot with the right gripper + subtask_index: 16 +- subtask: 'null' + subtask_index: 17 +atomic_actions: +- grasp +- place +- pick +- pour +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 1054 + total_frames: 1385988 + fps: 30 + total_tasks: 18 + total_videos: 3162 + total_chunks: 2 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 14.74 GB +frame_num: 1385988 +frame_range: 10M +dataset_size: 14.74 GB +data_structure: 'Agilex_Cobot_Magic_pour_tea/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (42 more entries) + + |-- merged_data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (42 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | |-- merged_episodes_stats.jsonl + + | |-- merged_info.json + + | |-- motion_annotation_episodes_stats.jsonl + + | |-- motion_annotation_info.json + + | |-- quality_checked_episodes.jsonl + + | |-- quality_checked_episodes_stats.jsonl + + | |-- quality_checked_info.json + + | |-- quality_checked_tasks.jsonl + + | `-- scene_annotation_episodes_stats.jsonl + + | `-- ... (6 more entries) + + |-- motion_annotation_data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (42 more entries) + + |-- quality_checked_data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (12 more entries) + + |-- scene_annotation_data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (42 more entries) + + |-- state_action_data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (42 more entries) + + |-- subtask_annotation_data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (42 more entries) + + |-- videos + + | |-- chunk-000 + + | | |-- observation.images.cam_high_rgb + + | | |-- observation.images.cam_left_wrist_rgb + + | | `-- observation.images.cam_right_wrist_rgb + + | `-- chunk-001 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- episode_source_mapping.json + + `-- info.yaml + + `-- ... (2 more entries)' +splits: + train: 0:1054 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_pour_water_bottle_cup_cup.yaml b/dataset_info/Agilex_Cobot_Magic_pour_water_bottle_cup_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0d3261dea69890f7f45ebaedf0661b97cfb02a5d --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_pour_water_bottle_cup_cup.yaml @@ -0,0 +1,503 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_pour_water_bottle_cup_cup +dataset_uuid: 92423310-27fd-4dad-b980-d6beee4745d0 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: transparent_bottle +- object_name: pink_clear_plastic_cup +- object_name: blue_clear_plastic_cup +- object_name: black_clear_plastic_cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the bottle with the gripper and pour water into the cup. Then, pick up the + cup containing water with the gripper and pour it into another cup. +sub_tasks: +- subtask: Place the brown bottle with the right gripper. + subtask_index: 0 +- subtask: Grasp the brown bottle with the left gripper. + subtask_index: 1 +- subtask: Place the blue cup with the right gripper. + subtask_index: 2 +- subtask: Pour water from blue cup to red cup with the left gripper. + subtask_index: 3 +- subtask: Place the blue cup with the left gripper. + subtask_index: 4 +- subtask: Abnormal. + subtask_index: 5 +- subtask: Pour water from brown bottle to blue cup with the left gripper. + subtask_index: 6 +- subtask: Place the brown bottle with the left gripper. + subtask_index: 7 +- subtask: End. + subtask_index: 8 +- subtask: Grasp the blue cup with the right gripper. + subtask_index: 9 +- subtask: Pour water from brown bottle to blue cup with the right gripper. + subtask_index: 10 +- subtask: Grasp the brown bottle with the right gripper. + subtask_index: 11 +- subtask: Grasp the blue cup with the left gripper. + subtask_index: 12 +- subtask: Pour water from blue cup to red cup with the right gripper. + subtask_index: 13 +- subtask: null. + subtask_index: 14 +atomic_actions: +- grasp +- lift +- place +- pour +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 198 + total_frames: 240141 + fps: 30 + total_tasks: 15 + total_videos: 594 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 2.00 GB +frame_num: 240141 +frame_range: 1M +dataset_size: 2.00 GB +data_structure: 'Agilex_Cobot_Magic_pour_water_bottle_cup_cup_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (186 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:197 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_pour_water_middle_cup.yaml b/dataset_info/Agilex_Cobot_Magic_pour_water_middle_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..de8fca57d3424e43a1ad1aff7ad1bc749f6c82be --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_pour_water_middle_cup.yaml @@ -0,0 +1,510 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_pour_water_middle_cup +dataset_uuid: 0298514b-57cd-4d91-913a-81bce8b531f5 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: transparent_bottle +- object_name: pink_clear_plastic_cup +- object_name: blue_clear_plastic_cup +- object_name: black_clear_plastic_cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the bottle filled with water with the gripper and pour the water into the + middle cup of the three cups. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Pour water from brown bottle to red cup with the right gripper. + subtask_index: 1 +- subtask: Grasp the transparent bottle with the left gripper. + subtask_index: 2 +- subtask: Pour water from transparent bottle to grey cup with the right gripper. + subtask_index: 3 +- subtask: Pour water from transparent bottle to red cup with the left gripper. + subtask_index: 4 +- subtask: Pour water from transparent bottle to blue cup with the right gripper. + subtask_index: 5 +- subtask: Pour water from transparent bottle to red cup with the right gripper. + subtask_index: 6 +- subtask: Pour water from brown bottle to grey cup with the right gripper. + subtask_index: 7 +- subtask: Pour water from transparent bottle to brown cup with the left gripper. + subtask_index: 8 +- subtask: End. + subtask_index: 9 +- subtask: Grasp the transparent bottle with the right gripper. + subtask_index: 10 +- subtask: Pour water from brown bottle to blue cup with the right gripper. + subtask_index: 11 +- subtask: Pour water from transparent bottle tobrown cup with the right gripper. + subtask_index: 12 +- subtask: Place the transparent bottle with the right gripper. + subtask_index: 13 +- subtask: Grasp the brown bottle with the right gripper. + subtask_index: 14 +- subtask: Place the transparent bottle with the left gripper. + subtask_index: 15 +- subtask: Place the brown bottle with the right gripper. + subtask_index: 16 +- subtask: null. + subtask_index: 17 +atomic_actions: +- grasp +- lift +- place +- pour +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 192 + total_frames: 130785 + fps: 30 + total_tasks: 18 + total_videos: 576 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 1.10 GB +frame_num: 130785 +frame_range: 1M +dataset_size: 1.10 GB +data_structure: 'Agilex_Cobot_Magic_pour_water_middle_cup_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (180 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:191 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_pour_water_pink_cup.yaml b/dataset_info/Agilex_Cobot_Magic_pour_water_pink_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..96f9c055b67b65695663990945593b11556c3068 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_pour_water_pink_cup.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_pour_water_pink_cup +dataset_uuid: c5049fbd-1ffe-41b3-82f9-9906a5dd9d4d +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: transparent_bottle +- object_name: pink_clear_plastic_cup +- object_name: blue_clear_plastic_cup +- object_name: black_clear_plastic_cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the bottle filled with water with the gripper and pour it into the pink + cup. +sub_tasks: +- subtask: Grasp the green bottle with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Pour water from green bottle to pink cup with the right gripper. + subtask_index: 2 +- subtask: Place the green bottle with the right gripper. + subtask_index: 3 +- subtask: Grasp the green bottle with the left gripper. + subtask_index: 4 +- subtask: Pour water from green bottle to pink cup with the left gripper. + subtask_index: 5 +- subtask: Place the green bottle with the left gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- lift +- place +- pour +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 68443 + fps: 30 + total_tasks: 8 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 526.82 MB +frame_num: 68443 +frame_range: 100K +dataset_size: 526.82 MB +data_structure: 'Agilex_Cobot_Magic_pour_water_pink_cup_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_scoop_coffee_beans.yaml b/dataset_info/Agilex_Cobot_Magic_scoop_coffee_beans.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4eb9a2444f568abcf39a3db89fd5f5afcb012ee3 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_scoop_coffee_beans.yaml @@ -0,0 +1,518 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_scoop_coffee_beans +dataset_uuid: 643f286d-7021-4fb1-8c63-aecd24fb763e +scene_type: + level1: household + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cup +- object_name: cup_lid +- object_name: spoon +- object_name: coffee_beans +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the grey cup in the center of the table with the left gripper. Pick up the + blue spoon from the cup lid with the right gripper and scoop out the coffee beans + from the coffee cup with the right gripper, then place them into the grey cup with + the right gripper. Place the spoon back into the cup lid with the right gripper. +- Place the grey cup in the center of the table with the left gripper. Pick up the + pink spoon from the cup lid with the right gripper and scoop out the coffee beans + from the coffee cup, then place them into the grey cup with the right gripper. Place + the spoon back into the cup lid with the right gripper. +- Place the grey cup in the center of the table with the right gripper. Pick up the + blue spoon from the cup lid with the left gripper and scoop out the coffee beans + from the coffee cup, then place them into the grey cup with the left gripper. Place + the spoon back into the cup lid with the left gripper. +- Place the grey cup in the center of the table with the right gripper. Pick up the + pink spoon from the cup lid with the left gripper and scoop out the coffee beans + from the coffee cup, then place them into the grey cup with the left gripper. Place + the spoon back into the cup lid with the left gripper. +- Place the red cup in the center of the table with the left gripper. Pick up the + blue spoon from the cup lid with the right gripper and scoop out the coffee beans + from the coffee cup with the right gripper, then place them into the red cup with + the right gripper. Place the spoon back into the cup lid with the right gripper. +- Place the red cup in the center of the table with the left gripper. Pick up the + pink spoon from the cup lid with the right gripper and scoop out the coffee beans + from the coffee cup, then place them into the red cup with the right gripper. Place + the spoon back into the cup lid with the right gripper. +- Place the red cup in the center of the table with the right gripper. Pick up the + blue spoon from the cup lid with the left gripper and scoop out the coffee beans + from the coffee cup with the left gripper, then place them into the red cup with + the left gripper. Place the spoon back into the cup lid with the left gripper. +- Place the red cup in the center of the table with the right gripper. Pick up the + pink spoon from the cup lid with the left gripper and scoop out the coffee beans + from the coffee cup, then place them into the red cup with the left gripper. Place + the spoon back into the cup lid with the left gripper. +sub_tasks: +- subtask: Place the spoon back in its original place. + subtask_index: 0 +- subtask: Move the cup to the center of view. + subtask_index: 1 +- subtask: Pick up the spoon. + subtask_index: 2 +- subtask: Scoop a spoonful of beans into the cup. + subtask_index: 3 +- subtask: abnormal. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- scoop +- grasp +- pick +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 499 + total_frames: 409440 + fps: 30 + total_tasks: 6 + total_videos: 1497 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 3.81 GB +frame_num: 409440 +frame_range: 1M +dataset_size: 3.81 GB +data_structure: 'Split_aloha_scoop_coffee_beans_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (487 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:498 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_seal_bag.yaml b/dataset_info/Agilex_Cobot_Magic_seal_bag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8224b5d12a65bbe7cdc7e675bd0898040902be6f --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_seal_bag.yaml @@ -0,0 +1,493 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_seal_bag +dataset_uuid: 7b86b017-93e7-4031-9f8e-be2ae24a8f4e +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: file bag zipper-blue +- object_name: orange +- object_name: pear +- object_name: eggplant +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Zip up the file bag on the table with the gripper. +sub_tasks: +- subtask: Lift the fruit bag with your left gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Pull the fruit bag with right gripper. + subtask_index: 2 +- subtask: Pull the fruit bag with left gripper. + subtask_index: 3 +- subtask: Place the fruit bag with right gripper. + subtask_index: 4 +- subtask: Grasp the fruit bag with right gripper. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: Lift the fruit bag with your right gripper. + subtask_index: 7 +- subtask: Grasp the fruit bag with left gripper. + subtask_index: 8 +- subtask: Place the fruit bag with left gripper. + subtask_index: 9 +- subtask: null. + subtask_index: 10 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 398 + total_frames: 264657 + fps: 30 + total_tasks: 11 + total_videos: 1194 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 2.90 GB +frame_num: 264657 +frame_range: 1M +dataset_size: 2.90 GB +data_structure: 'Agilex_Cobot_Magic_seal_bag_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (386 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:397 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_stack_baskets.yaml b/dataset_info/Agilex_Cobot_Magic_stack_baskets.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3fe769a146875f3653d190a98018a3e23224af1e --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_stack_baskets.yaml @@ -0,0 +1,532 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_stack_baskets +dataset_uuid: 95468603-b11c-4660-b4a3-4ea44675e67f +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the black basket with the left gripper and place it in the center of the table. + Grasp the brown basket with the right gripper and place it inside the black one. +- Grasp the brown basket with the left gripper and place it in the center of the table. + Grasp the black basket with the right gripper and place it inside the brown one. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the light basket with left gripper. + subtask_index: 1 +- subtask: Move the dark basket to the center of view. + subtask_index: 2 +- subtask: Grasp the dark basket with right gripper. + subtask_index: 3 +- subtask: Place the dark basket on top of the light basket. + subtask_index: 4 +- subtask: Grasp the dark basket with left gripper. + subtask_index: 5 +- subtask: Place the light-colored basket in the center. + subtask_index: 6 +- subtask: Grasp the light basket with right gripper. + subtask_index: 7 +- subtask: Place the dark basket in the center of the table with left gripper. + subtask_index: 8 +- subtask: Place the dark basket on the light basket with right gripper. + subtask_index: 9 +- subtask: Static. + subtask_index: 10 +- subtask: Pick up the light basket with the right gripper. + subtask_index: 11 +- subtask: Place the light basket on the dark basket with right gripper. + subtask_index: 12 +- subtask: Place the light basket on the dark basket. + subtask_index: 13 +- subtask: Place the light basket in the center of the table with left gripper. + subtask_index: 14 +- subtask: null. + subtask_index: 15 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 1066 + total_frames: 474590 + fps: 30 + total_tasks: 16 + total_videos: 3198 + total_chunks: 2 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 17.47 GB +frame_num: 474590 +frame_range: 1M +dataset_size: 17.47 GB +data_structure: 'Split_aloha_stack_baskets_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (54 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | |-- chunk-000 + + | | |-- observation.images.cam_high_rgb + + | | |-- observation.images.cam_left_wrist_rgb + + | | `-- observation.images.cam_right_wrist_rgb + + | `-- chunk-001 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:1065 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_stack_block.yaml b/dataset_info/Agilex_Cobot_Magic_stack_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ece1a5f599164451db3d4f2b7e2ea7c2e703a16 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_stack_block.yaml @@ -0,0 +1,1689 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_stack_block +dataset_uuid: 203e1be7-f38a-49a6-b1ae-11477c673f79 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: square_building_blocks +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- According to the building block template in front, assemble the scattered blocks + together. +sub_tasks: +- subtask: 'Put the yellow build block on the blue build block + + ' + subtask_index: 0 +- subtask: 'Put the orange build block on the left of the blue build block + + ' + subtask_index: 1 +- subtask: 'Put the red build block on the right of the yellow build block + + ' + subtask_index: 2 +- subtask: 'Put the orange build block on the right of the yellow build block + + ' + subtask_index: 3 +- subtask: Put the green cube on the left of the blue cube with the left gripper + subtask_index: 4 +- subtask: 'Put the yellow build block on the blue build block + + ' + subtask_index: 5 +- subtask: 'Put the green build block on the right of the blue build block + + ' + subtask_index: 6 +- subtask: 'Put the red build block on the blue build block + + ' + subtask_index: 7 +- subtask: 'Put the yellow build block on the right of the red build block + + ' + subtask_index: 8 +- subtask: 'Put the red build block on the behind of the green'' build block + + ' + subtask_index: 9 +- subtask: 'Put the blue build block on the behind of the orange build block + + ' + subtask_index: 10 +- subtask: Put the orange cube on the behind of the red cube + subtask_index: 11 +- subtask: Put the blue cube on the behind of the red cube + subtask_index: 12 +- subtask: Put the blue cube on the right of the green cube + subtask_index: 13 +- subtask: Put the green cube on the left of the yellow cube with the right gripper + subtask_index: 14 +- subtask: Grasp the green block with left gripper + subtask_index: 15 +- subtask: Put the blue cube and green cube in the center of the table with the right + gripper + subtask_index: 16 +- subtask: Put the green cube on the behind of the yellow cube + subtask_index: 17 +- subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 18 +- subtask: Put the blue cube on the behind of the yellow cube + subtask_index: 19 +- subtask: 'Put the green build block on the orange build block + + ' + subtask_index: 20 +- subtask: Grasp the blue block with left gripper + subtask_index: 21 +- subtask: Put the green cube on the right of the red cube + subtask_index: 22 +- subtask: Grasp the orange block with left gripper + subtask_index: 23 +- subtask: 'Put the bluebuild block on the right of the yellow build block + + ' + subtask_index: 24 +- subtask: 'Put the yellow build block on the right of the green build block + + ' + subtask_index: 25 +- subtask: Put the yellow cube on the right of the red cube + subtask_index: 26 +- subtask: 'Put the orange build block on the right of the green build block + + ' + subtask_index: 27 +- subtask: Adjust the position of the cube with the right gripper + subtask_index: 28 +- subtask: Put the red cube and green cube in the center of the table with the left + gripper + subtask_index: 29 +- subtask: 'Put the yellow build block on the right of the red build block + + ' + subtask_index: 30 +- subtask: Put the blue cube and green cube in the center of the table with the left + gripper + subtask_index: 31 +- subtask: 'Put the red build block on the behind of the orange build block + + ' + subtask_index: 32 +- subtask: Put the green cube on the red cube + subtask_index: 33 +- subtask: 'Put the orange build block on the behind of the red build block + + ' + subtask_index: 34 +- subtask: 'Put the blue build block on the right of the yellow build block + + ' + subtask_index: 35 +- subtask: 'Put the yellow build block on the right of the orange build block + + ' + subtask_index: 36 +- subtask: Put the red cube on the left of the green cube with the left gripper + subtask_index: 37 +- subtask: 'Put the yellow build block on the behind of the blue build block + + ' + subtask_index: 38 +- subtask: 'Put the green build block in the center of the table + + ' + subtask_index: 39 +- subtask: Put the orange cube on the left of the yellow cube with the right gripper + subtask_index: 40 +- subtask: Put the yellow cube on the behind of the green cube + subtask_index: 41 +- subtask: 'Put the blue build block on the green build block + + ' + subtask_index: 42 +- subtask: 'Put the blue build block on the right of orange the build block + + ' + subtask_index: 43 +- subtask: 'Put the yellow build block in the center of the table + + ' + subtask_index: 44 +- subtask: Grasp the yellow block with left gripper + subtask_index: 45 +- subtask: 'Put the orange build block on the behind of the red build block + + ' + subtask_index: 46 +- subtask: Put the red cube on the left of the orange cube + subtask_index: 47 +- subtask: Put the green cube on the right of the yellow cube with the left gripper + subtask_index: 48 +- subtask: 'Put the blue build block on the front of the orange build block + + ' + subtask_index: 49 +- subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 50 +- subtask: 'Put the ornage build block on the behind of the green build block + + ' + subtask_index: 51 +- subtask: 'Put the red build block on the behind of the blue build block + + ' + subtask_index: 52 +- subtask: Put the yellow cube and orange cube in the center of the table with the + right gripper + subtask_index: 53 +- subtask: Put the blue cube in the center of the table + subtask_index: 54 +- subtask: 'Put the ornage build block on the behind of the blue build block + + ' + subtask_index: 55 +- subtask: Grasp the red block with right gripper + subtask_index: 56 +- subtask: Put the orange cube on the right of the yellow cube + subtask_index: 57 +- subtask: 'Put the red build block on the behind of the yellow build block + + ' + subtask_index: 58 +- subtask: 'Put the yellow build block on the right of the green build block + + ' + subtask_index: 59 +- subtask: Put the yellow cube on the front of the orange cube with the right gripper + subtask_index: 60 +- subtask: Put the green build block on the behind of the blue build block + subtask_index: 61 +- subtask: Put the yellow build block in the center of the table + subtask_index: 62 +- subtask: Put the yellow build block on the behind of the blue build block + subtask_index: 63 +- subtask: 'Put the red build block on the left of the green build block + + ' + subtask_index: 64 +- subtask: Put the orange cube on the right of the blue cube + subtask_index: 65 +- subtask: Put the yellow cube on the behind of the red cube + subtask_index: 66 +- subtask: Grasp the orange block with right gripper + subtask_index: 67 +- subtask: Put the red cube on the right of the green cube + subtask_index: 68 +- subtask: move the build block to the center of the table + subtask_index: 69 +- subtask: 'Put the yellow build block on the right of the red build block + + ' + subtask_index: 70 +- subtask: 'Put the greem build block on the behind of the blue build block + + ' + subtask_index: 71 +- subtask: 'Put the yellow build block on the behind of the blue build block + + ' + subtask_index: 72 +- subtask: Put the green cube on the right of the orange cube with the right gripper + subtask_index: 73 +- subtask: Put the red cube on the right of the green cube with the left gripper + subtask_index: 74 +- subtask: 'Put the yellow build block on the behind of the green build block + + ' + subtask_index: 75 +- subtask: Put the green build block on the left of the orange build block + subtask_index: 76 +- subtask: Put the yellow cube on the front of the blue cube with the right gripper + subtask_index: 77 +- subtask: 'Put the red build block on the right of the blue build block + + ' + subtask_index: 78 +- subtask: 'Put the yellow build block on the blue build block + + ' + subtask_index: 79 +- subtask: Put the orange cube on the behind of the blue cube + subtask_index: 80 +- subtask: 'Put the yellow build block on the right of the blue build block + + ' + subtask_index: 81 +- subtask: Put the green cube on the right of the blue cube with the left gripper + subtask_index: 82 +- subtask: Put the yellow cube on the right of the orange cube + subtask_index: 83 +- subtask: Put the yellow cube and green cube in the center of the table with the + left gripper + subtask_index: 84 +- subtask: 'Put the blue build block on the left of the yellow build block + + ' + subtask_index: 85 +- subtask: Put the red cube and blue cube in the center of the table with the right + gripper + subtask_index: 86 +- subtask: 'Put the blue build block on the right of the red build block + + ' + subtask_index: 87 +- subtask: Put the red cube on the right of the orange cube with the right gripper + subtask_index: 88 +- subtask: 'Put the green build block on the right of the red build block + + ' + subtask_index: 89 +- subtask: Put the blue cube on the left of the green cube with the right gripper + subtask_index: 90 +- subtask: Put the blue cube on the right of the yellow cube with the right gripper + subtask_index: 91 +- subtask: 'Put the orange build block on the behind of the yellow build block + + ' + subtask_index: 92 +- subtask: Put the blue cube on the left of the orange cube + subtask_index: 93 +- subtask: Put the orange cube on the right of the green cube + subtask_index: 94 +- subtask: 'Put the red build block in the center of the table + + ' + subtask_index: 95 +- subtask: 'Put the green build block on the left of the blue build block + + ' + subtask_index: 96 +- subtask: Put the green cube on the left of the orange cube with the left gripper + subtask_index: 97 +- subtask: Grasp the blue block with right gripper + subtask_index: 98 +- subtask: 'Put the orange build block on the behind of the yellow build block + + ' + subtask_index: 99 +- subtask: 'Put the yellow build block in the center of the table + + ' + subtask_index: 100 +- subtask: 'Put the blue build block on the front of the green build block + + ' + subtask_index: 101 +- subtask: Put the red cube in the center of the table + subtask_index: 102 +- subtask: 'Put the blue build block on the behind of the orange build block + + ' + subtask_index: 103 +- subtask: Put the orange cube on the right of the yellow cube with the right gripper + subtask_index: 104 +- subtask: Put the red cube on the behind of the orange cube + subtask_index: 105 +- subtask: Put the blue cube and orange cube in the center of the table with the right + gripper + subtask_index: 106 +- subtask: 'Put the green build block on the left of the blue build block + + ' + subtask_index: 107 +- subtask: 'Put the right build block on the right of the yellow build block + + ' + subtask_index: 108 +- subtask: 'Put the green build block on the right of the red build block + + ' + subtask_index: 109 +- subtask: 'Put the yellow build block on the right of the red build block + + ' + subtask_index: 110 +- subtask: 'Put the green build block on the left of the blue build block + + ' + subtask_index: 111 +- subtask: 'Put the yellow build block on the behind of the red build block + + ' + subtask_index: 112 +- subtask: 'Put the blue build block in the center of the table + + ' + subtask_index: 113 +- subtask: 'Put the yellow build block on the right of the blue build block + + ' + subtask_index: 114 +- subtask: Put the orange cube on the left of the green cube with the left gripper + subtask_index: 115 +- subtask: Put the yellow cube on the right of the blue cube with the right gripper + subtask_index: 116 +- subtask: 'Put the green build block on the behind of the yellow build block + + ' + subtask_index: 117 +- subtask: Put the red cube on the right of the orange cube with the left gripper + subtask_index: 118 +- subtask: 'Put the green build block on the right of the yellow build block + + ' + subtask_index: 119 +- subtask: 'Put the green build block on the right of the red build block + + ' + subtask_index: 120 +- subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 121 +- subtask: Put the yellow cube on the right of the green cube + subtask_index: 122 +- subtask: 'Put the yellow build block on the right of the orange build block + + ' + subtask_index: 123 +- subtask: 'Put the orange build block on the green build block + + ' + subtask_index: 124 +- subtask: Put the green cube on the front of the blue cube with the left gripper + subtask_index: 125 +- subtask: 'Put the green build block in the center of the table + + ' + subtask_index: 126 +- subtask: Put the green cube in the center of the table + subtask_index: 127 +- subtask: Put the yellow cube and green cube in the center of the table with the + right gripper + subtask_index: 128 +- subtask: Put the yellow cube and blue cube in the center of the table with the right + gripper + subtask_index: 129 +- subtask: Put the red cube on the behind of the yellow cube + subtask_index: 130 +- subtask: Put the XX build block on the XX build block + subtask_index: 131 +- subtask: Put the orange cube on the right of the green cube with the right gripper + subtask_index: 132 +- subtask: 'Put the orange build block on the behind of the blue build block + + ' + subtask_index: 133 +- subtask: 'Put the green build block on the behind of the yellow build block + + ' + subtask_index: 134 +- subtask: Put the blue cube in the front of the green cube + subtask_index: 135 +- subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 136 +- subtask: 'Put the blue build block on the right of the red build block + + ' + subtask_index: 137 +- subtask: 'Put the red build block on the right of the orange build block + + ' + subtask_index: 138 +- subtask: 'Put the blue build block on the behind of the green build block + + ' + subtask_index: 139 +- subtask: 'Put the green build block on the right of the blue build block + + ' + subtask_index: 140 +- subtask: ' + + Put the yellow build block in the center of the table' + subtask_index: 141 +- subtask: 'Put the orange build block on the behind of the red build block + + ' + subtask_index: 142 +- subtask: Put the red cube and orange cube in the center of the table with the right + gripper + subtask_index: 143 +- subtask: 'Put the orange build block on the behind of the green build block + + ' + subtask_index: 144 +- subtask: 'Put the orange build block in the center of the table + + ' + subtask_index: 145 +- subtask: Put the yellow cube in the center of the table + subtask_index: 146 +- subtask: 'Put the yellow build block on the behind of the green build block + + ' + subtask_index: 147 +- subtask: 'Put the blue build block on the right of the green build block + + ' + subtask_index: 148 +- subtask: Put the green cube on the right of the orange cube + subtask_index: 149 +- subtask: Adjust the position of the cube with the left gripper + subtask_index: 150 +- subtask: Put the green cube on the left of the yellow cube with the left gripper + subtask_index: 151 +- subtask: 'Put the green build block on the behind of the yellow build block + + ' + subtask_index: 152 +- subtask: 'Put the orange build block on the right of the red build block + + ' + subtask_index: 153 +- subtask: 'Put the red build block on the right of the yellow build block + + ' + subtask_index: 154 +- subtask: 'Put the green build block on the red build block + + ' + subtask_index: 155 +- subtask: Put the yellow cube on the behind of the blue cube with the left gripper + subtask_index: 156 +- subtask: 'Put the yellow build block on the behind of the red build block + + ' + subtask_index: 157 +- subtask: Put the orange cube on the right of the red cube with the left gripper + subtask_index: 158 +- subtask: Adjust the pose of the building blocks + subtask_index: 159 +- subtask: 'Put the blue build block on the front of the green build block + + ' + subtask_index: 160 +- subtask: Put the green cube on the right of the red cube with the right gripper + subtask_index: 161 +- subtask: 'Put theyellow build block on the behind of the blue build block + + ' + subtask_index: 162 +- subtask: Put the red cube in the center of the table with the left gripper + subtask_index: 163 +- subtask: 'Put the red build block on the green build block + + ' + subtask_index: 164 +- subtask: 'Put the yellow build block on the orange build block + + ' + subtask_index: 165 +- subtask: 'Put the blue build block in the center of the table + + ' + subtask_index: 166 +- subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 167 +- subtask: 'Put the red build block on the right of the green build block + + ' + subtask_index: 168 +- subtask: Put the red cube on the right of the orange cube + subtask_index: 169 +- subtask: Put the yellow cube on the left of the blue cube with the left gripper + subtask_index: 170 +- subtask: 'Put the red build block on the behind of the green build block + + ' + subtask_index: 171 +- subtask: Put the yellow cube on the right of the green cube with the left gripper + subtask_index: 172 +- subtask: 'Put the green build block on the behind of the blue build block + + ' + subtask_index: 173 +- subtask: 'Put the blue build block on the orange build block + + ' + subtask_index: 174 +- subtask: 'Put the orange build block on the orange build block + + ' + subtask_index: 175 +- subtask: 'Put the green build block on the orange build block + + ' + subtask_index: 176 +- subtask: 'Put the yellow build block in the center of the table + + ' + subtask_index: 177 +- subtask: Put the blue cube in the front of the yellow cube + subtask_index: 178 +- subtask: 'Put the red build block on the behind of the green build block + + ' + subtask_index: 179 +- subtask: 'Put the blue build block on the behind of the green build block + + ' + subtask_index: 180 +- subtask: Put the red cube and yellow cube in the center of the table with the right + gripper + subtask_index: 181 +- subtask: 'Put the orange build block on the right of the yellow build block + + ' + subtask_index: 182 +- subtask: 'Put the orange build block on the left of the red build block + + ' + subtask_index: 183 +- subtask: 'Put the orange build block in the center of the table + + ' + subtask_index: 184 +- subtask: 'Put the blue build block in the center of the table + + ' + subtask_index: 185 +- subtask: 'Put the yellow build block on the right of the green build block + + ' + subtask_index: 186 +- subtask: 'Put the orange build block in the center of the table + + ' + subtask_index: 187 +- subtask: Put the red cube and green cube in the center of the table with the right + gripper + subtask_index: 188 +- subtask: 'Put the blue build block on the right of the yellow build block + + ' + subtask_index: 189 +- subtask: 'Put the orange build block on the behind of the blue build block + + ' + subtask_index: 190 +- subtask: 'Put the orange build block on the right of the yellow build block + + ' + subtask_index: 191 +- subtask: Put the blue cube on the left of the yellow cube with the left gripper + subtask_index: 192 +- subtask: Put the red cube on the right of the green cube with the right gripper + subtask_index: 193 +- subtask: 'Put the red build block on the behind of the green build block + + ' + subtask_index: 194 +- subtask: 'Put the orange build block on the right of the red build block + + ' + subtask_index: 195 +- subtask: Put the blue build block on the right of the yellow build block + subtask_index: 196 +- subtask: 'Put the green build block on the right of the yellow build block + + ' + subtask_index: 197 +- subtask: Put the yellow cube and blue cube in the center of the table with the left + gripper + subtask_index: 198 +- subtask: Put the yellow cube on the left of the orange cube with the right gripper + subtask_index: 199 +- subtask: Put the red cube in the front of the orange cube + subtask_index: 200 +- subtask: 'Put the yellow build block on the behind of the green build block + + ' + subtask_index: 201 +- subtask: 'Put the blue build block in the center of the table + + ' + subtask_index: 202 +- subtask: Put the green build block on the behind of the blue build block + subtask_index: 203 +- subtask: Put the orange cube on the left of the red cube with the right gripper + subtask_index: 204 +- subtask: Put the green cube and orange cube in the center of the table with the + right gripper + subtask_index: 205 +- subtask: Grasp the yellow block with right gripper + subtask_index: 206 +- subtask: 'Put the orange build block on the green build block + + ' + subtask_index: 207 +- subtask: 'Put the yellow build block on the front of the red build block + + ' + subtask_index: 208 +- subtask: Put the orange cube on the right of the blue cube with the right gripper + subtask_index: 209 +- subtask: 'Put the green build block on the right of the yellow build block + + ' + subtask_index: 210 +- subtask: Put the yellow cube on the left of the red cube with the right gripper + subtask_index: 211 +- subtask: Abnormal + subtask_index: 212 +- subtask: 'Put the red build block on the yellow build block + + ' + subtask_index: 213 +- subtask: Put the blue cube on the behind of the orange cube + subtask_index: 214 +- subtask: 'Put the red build block on the right of the blue build block + + ' + subtask_index: 215 +- subtask: Put the green cube in the center of the table with the left gripper + subtask_index: 216 +- subtask: 'Put the red build block on the front of the green build block + + ' + subtask_index: 217 +- subtask: Put the yellow cube on the behind of the blue cube + subtask_index: 218 +- subtask: 'Put the blue build block on the left of the yellow build block + + ' + subtask_index: 219 +- subtask: Put the orange cube on the left of the blue cube + subtask_index: 220 +- subtask: 'Put the orange build block on the front of the blue build block + + ' + subtask_index: 221 +- subtask: Put the yellow cube in the front of the green cube + subtask_index: 222 +- subtask: 'Put the blue build block in the center of the table + + ' + subtask_index: 223 +- subtask: Put the green cube in the front of the yellow cube + subtask_index: 224 +- subtask: Put the red cube and orange cube in the center of the table with the left + gripper + subtask_index: 225 +- subtask: Put the yellow build block on the behind of the green build block + subtask_index: 226 +- subtask: 'Put the orange build block on the blue build block + + ' + subtask_index: 227 +- subtask: 'Put the blue build block on the left of the yellow build block + + ' + subtask_index: 228 +- subtask: Grasp the red block with left gripper + subtask_index: 229 +- subtask: 'Put the blue build block on the behind of the orange build block + + ' + subtask_index: 230 +- subtask: 'Put the red build block on the right of the yellow build block + + ' + subtask_index: 231 +- subtask: 'Put the red build block in the center of the table + + ' + subtask_index: 232 +- subtask: 'Put the red build block on the right of the orange build block + + ' + subtask_index: 233 +- subtask: 'Put the red build block on the behind of the yellow build block + + ' + subtask_index: 234 +- subtask: 'Put the green build block on the right of the red build block + + ' + subtask_index: 235 +- subtask: 'Put the blue build block on the behind of the green build block + + ' + subtask_index: 236 +- subtask: Put the orange cube on the right of the red cube + subtask_index: 237 +- subtask: 'Put the red build block on the right of the green build block + + ' + subtask_index: 238 +- subtask: 'Put the blue build block on the behind of the green build block + + ' + subtask_index: 239 +- subtask: 'Put the green build block in the center of the table + + ' + subtask_index: 240 +- subtask: Put the yellow cube on the right of the blue cube + subtask_index: 241 +- subtask: Put the yellow cube on the behind of the orange cube + subtask_index: 242 +- subtask: Put the yellow cube in the front of the orange cube + subtask_index: 243 +- subtask: 'Put the green build block on the red build block + + ' + subtask_index: 244 +- subtask: Put the green cube on the right of the yellow cube + subtask_index: 245 +- subtask: 'Put the yellow build block on the right of the green build block + + ' + subtask_index: 246 +- subtask: Put the red cube and blue cube in the center of the table with the left + gripper + subtask_index: 247 +- subtask: 'Put the green build block on the left of the orange build block + + ' + subtask_index: 248 +- subtask: Put the orange cube on the left of the blue cube with the right gripper + subtask_index: 249 +- subtask: 'Put the green build block on the blue build block + + ' + subtask_index: 250 +- subtask: 'Put the green build block on the orange build block + + ' + subtask_index: 251 +- subtask: 'Put the orange build block on the right of the blue build block + + ' + subtask_index: 252 +- subtask: 'Put the orange build block on the right of the blue build block + + ' + subtask_index: 253 +- subtask: Put the blue cube on the yellow cube + subtask_index: 254 +- subtask: 'Put the orange build block on the right of the green build block + + ' + subtask_index: 255 +- subtask: Put the blue cube on the right of the orange cube with the right gripper + subtask_index: 256 +- subtask: Put the yellow cube on the right of the orange cube with the right gripper + subtask_index: 257 +- subtask: Put the red cube on the left of the orange cube with the left gripper + subtask_index: 258 +- subtask: 'Put the yellow build block on the behind of the green build block + + ' + subtask_index: 259 +- subtask: 'Put the orange build block on the left of the red build block + + ' + subtask_index: 260 +- subtask: 'Put the red build block on the front of the green build block + + ' + subtask_index: 261 +- subtask: Put the blue cube on the right of the red cube with the right gripper + subtask_index: 262 +- subtask: 'Put the yellow build block on the behind of the red build block + + ' + subtask_index: 263 +- subtask: 'Put the red build block on the behind of the yellow build block + + ' + subtask_index: 264 +- subtask: 'Put the red build block on the behind of the blue build block + + ' + subtask_index: 265 +- subtask: Put the yellow cube on the left of the green cube + subtask_index: 266 +- subtask: 'Put the blue build block on the right of the orange build block + + ' + subtask_index: 267 +- subtask: Put the green cube on the right of the blue cube + subtask_index: 268 +- subtask: 'Put the red build block on the blue build block + + ' + subtask_index: 269 +- subtask: 'Put the blue build block on the red build block + + ' + subtask_index: 270 +- subtask: Put the orange cube in the front of the blue cube + subtask_index: 271 +- subtask: 'Put the red build block on the right of the blue build block + + ' + subtask_index: 272 +- subtask: Put the blue build block on the right of the yellow build block + subtask_index: 273 +- subtask: Put the red build block on the right of the blue build block + subtask_index: 274 +- subtask: Put the green cube in the front of the blue cube + subtask_index: 275 +- subtask: Put the red cube in the front of the blue cube + subtask_index: 276 +- subtask: Put the blue cube on the right of the green cube with the left gripper + subtask_index: 277 +- subtask: 'Put the blue build block on the behind of the orange build block + + ' + subtask_index: 278 +- subtask: 'Put the red build block in the center of the table + + ' + subtask_index: 279 +- subtask: Put the green cube and orange cube in the center of the table with the + left gripper + subtask_index: 280 +- subtask: 'Put the blue build block on the behind of the red build block + + ' + subtask_index: 281 +- subtask: Put the blue cube on the right of the orange cube + subtask_index: 282 +- subtask: 'Put the blue build block on the right of the green build block + + ' + subtask_index: 283 +- subtask: 'Put the red build block on the front of the blue build block + + ' + subtask_index: 284 +- subtask: Static + subtask_index: 285 +- subtask: 'Put the red build block on the front of the yellow build block + + ' + subtask_index: 286 +- subtask: 'Put the blue build block on the right of the yellow build block + + ' + subtask_index: 287 +- subtask: Put the yellow cube in the front of the blue cube + subtask_index: 288 +- subtask: 'Put the yellow build block in the center of the table + + ' + subtask_index: 289 +- subtask: 'Put the yellow build block on the behind of the red build block + + ' + subtask_index: 290 +- subtask: Put the red cube on the right of the yellow cube + subtask_index: 291 +- subtask: 'Put the green build block on the behind of the red build block + + ' + subtask_index: 292 +- subtask: 'Put the yellow build block on the right of the green build block + + ' + subtask_index: 293 +- subtask: 'Put the yellow build block on the behind of the blue build block + + ' + subtask_index: 294 +- subtask: Put the orange cube on the left of the red cube + subtask_index: 295 +- subtask: 'Put the yellow build block on the behind of the blue build block + + ' + subtask_index: 296 +- subtask: 'Put the yellow build block on the right of the blue build block + + ' + subtask_index: 297 +- subtask: 'Put the red build block in the center of the table + + ' + subtask_index: 298 +- subtask: 'Put the green build block on the right of the blue build block + + ' + subtask_index: 299 +- subtask: 'Put the green build block on the behind of the orange build block + + ' + subtask_index: 300 +- subtask: Put the blue cube in the front of the orange cube + subtask_index: 301 +- subtask: Put the green cube on the right of the blue cube with the right gripper + subtask_index: 302 +- subtask: 'Put the green build block on the right of the red build block + + ' + subtask_index: 303 +- subtask: 'Put the red build block on the behind of the green build block + + ' + subtask_index: 304 +- subtask: 'Put the red build block on the behind of the yellow build block + + ' + subtask_index: 305 +- subtask: 'Put the green build block in the center of the table + + ' + subtask_index: 306 +- subtask: 'Put the yellow build block on the right of the blue build block + + ' + subtask_index: 307 +- subtask: 'Put the orange build block on the behind of the blue build block + + ' + subtask_index: 308 +- subtask: 'Put the green build block on the right of the yellow build block + + ' + subtask_index: 309 +- subtask: 'Put the orange build block in the center of the table + + ' + subtask_index: 310 +- subtask: Put the red cube on the right of the blue cube + subtask_index: 311 +- subtask: 'Put the green build block on the behind of the orange build block + + ' + subtask_index: 312 +- subtask: Put the blue build block on the right of the orange build block + subtask_index: 313 +- subtask: Put the orange cube on the behind of the yellow cube with the left gripper + subtask_index: 314 +- subtask: Put the orange cube in the front of the yellow cube + subtask_index: 315 +- subtask: 'Put the yellow build block on the right of the orange build block + + ' + subtask_index: 316 +- subtask: 'Put the orange build block on the front of the blue build block + + ' + subtask_index: 317 +- subtask: Put the yellow cube on the behind of the green cube with the left gripper + subtask_index: 318 +- subtask: Put the red cube on the left of the blue cube + subtask_index: 319 +- subtask: Put the blue cube on the behind of the green cube + subtask_index: 320 +- subtask: Put the blue cube on the right of the green cube with the right gripper + subtask_index: 321 +- subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 322 +- subtask: 'Put the red build block on the right of the blue build block + + ' + subtask_index: 323 +- subtask: Put the red cube on the left of the green cube with the right gripper + subtask_index: 324 +- subtask: 'Put the blue build block on the right of the orange build block + + ' + subtask_index: 325 +- subtask: 'Put the yellow build block on the behind of the blue build block + + ' + subtask_index: 326 +- subtask: Put the yellow cube on the left of the orange cube + subtask_index: 327 +- subtask: Put the orange cube in the center of the table + subtask_index: 328 +- subtask: Put the blue cube on the right of the red cube + subtask_index: 329 +- subtask: 'Put the blue build block on the right of the yellow build block + + ' + subtask_index: 330 +- subtask: 'Put the orange build block on the right of the green build block + + ' + subtask_index: 331 +- subtask: 'Put the green build block in the center of the table + + ' + subtask_index: 332 +- subtask: Put the red cube in the front of the green cube + subtask_index: 333 +- subtask: 'Put the green build block on the behind of the yellow build block + + ' + subtask_index: 334 +- subtask: Put the yellow cube on the right of the green cube with the right gripper + subtask_index: 335 +- subtask: 'Put the orange build block on the behind of the yellow build block + + ' + subtask_index: 336 +- subtask: 'Put the green build block on the behind of the blue build block + + ' + subtask_index: 337 +- subtask: ' + + Put the yellow build block on the behind of the green build block + + ' + subtask_index: 338 +- subtask: 'Put the green build block on the behind of the yellow build block + + ' + subtask_index: 339 +- subtask: 'Put the orange build block on the behind of the blue build block + + ' + subtask_index: 340 +- subtask: Put the red cube on the right of the yellow cube with the right gripper + subtask_index: 341 +- subtask: Put the blue cube on the right of the yellow cube + subtask_index: 342 +- subtask: Put the green build block in the center of the table + subtask_index: 343 +- subtask: 'Put the green build block on the right of the red build block + + ' + subtask_index: 344 +- subtask: Put the green cube on the right of the yellow cube with the right gripper + subtask_index: 345 +- subtask: 'Put the red build block on the front of the yellow build block + + ' + subtask_index: 346 +- subtask: 'Put the green build block in the center of the table + + ' + subtask_index: 347 +- subtask: 'Put the green build block on the blue build block + + ' + subtask_index: 348 +- subtask: 'Put the green build block on the blue build block + + ' + subtask_index: 349 +- subtask: Put the blue cube in the front of the red cube + subtask_index: 350 +- subtask: 'Put the orange build block on the left of the red build block + + ' + subtask_index: 351 +- subtask: Put the yellow cube on the right of the red cube with the right gripper + subtask_index: 352 +- subtask: 'Put the yellow build block on the right of the orange build block + + ' + subtask_index: 353 +- subtask: Grasp the green block with right gripper + subtask_index: 354 +- subtask: 'Put the blue build block on the behind of the orange build block + + ' + subtask_index: 355 +- subtask: 'Put the orange build block on the right of the blue build block + + ' + subtask_index: 356 +- subtask: 'Put the blue build block on the right of the orange build block + + ' + subtask_index: 357 +- subtask: Put the red cube on the left of the yellow cube with the right gripper + subtask_index: 358 +- subtask: 'Put the orange build block on the right of the blue build block + + ' + subtask_index: 359 +- subtask: Put the blue cube on the left of the red cube + subtask_index: 360 +- subtask: 'Put the orange build block on the right of the build block + + ' + subtask_index: 361 +- subtask: 'Put the orange build block on the right of the yellow build block + + ' + subtask_index: 362 +- subtask: Put the orange cube in the front of the red cube + subtask_index: 363 +- subtask: Put the red cube in the front of the yellow cube + subtask_index: 364 +- subtask: Put the yellow cube on the left of the green cube with the left gripper + subtask_index: 365 +- subtask: Put the red cube on the right of the blue cube with the right gripper + subtask_index: 366 +- subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 367 +- subtask: Put the red cube on the behind of the blue cube + subtask_index: 368 +- subtask: 'Put the yellow build block in the center of the table + + ' + subtask_index: 369 +- subtask: Put the yellow cube on the orange cube + subtask_index: 370 +- subtask: 'Put the blue build block in the center of the table + + ' + subtask_index: 371 +- subtask: Put the blue cube on the left of the red cube with the left gripper + subtask_index: 372 +- subtask: 'Put the blue build block on the behind of the yellow build block + + ' + subtask_index: 373 +- subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 374 +- subtask: Put the yellow cube in the front of the red cube + subtask_index: 375 +- subtask: 'Put the yellow build block on the behind of the green build block + + ' + subtask_index: 376 +- subtask: Put the orange cube on the right of the red cube with the right gripper + subtask_index: 377 +- subtask: Put the orange cube on the front of the blue cube with the right gripper + subtask_index: 378 +- subtask: End + subtask_index: 379 +- subtask: Put the green cube on the behind of the blue cube + subtask_index: 380 +- subtask: 'Put blue the build block on the right of the red build block + + ' + subtask_index: 381 +- subtask: Put the blue cube on the left of the red cube with the right gripper + subtask_index: 382 +- subtask: 'null' + subtask_index: 383 +atomic_actions: +- grasp +- lift +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 672 + total_frames: 643028 + fps: 30 + total_tasks: 384 + total_videos: 2016 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 3.97 GB +frame_num: 643028 +frame_range: 1M +dataset_size: 3.97 GB +data_structure: 'Agilex_Cobot_Magic_stack_block_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (660 more entries) + + |-- logs + + | `-- collect + + | `-- collect_20260521215548.log + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:671 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_stir_coffee.yaml b/dataset_info/Agilex_Cobot_Magic_stir_coffee.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2e4489949f719667364ec49f333a44099b305c09 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_stir_coffee.yaml @@ -0,0 +1,519 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_stir_coffee +dataset_uuid: 32b751d9-e42c-4ded-9426-ef495fea9a3d +scene_type: + level1: household + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cup +- object_name: spoon +- object_name: coffee +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the grey cup towards the center of the table with the left gripper. Grasp + the blue spoon with the right gripper, stir the coffee in the grey cup three times + with the right gripper, and place the spoon back in its original position with the + right gripper. +- Place the grey cup towards the center of the table with the left gripper. Grasp + the pink spoon with the right gripper, stir the coffee in the grey cup three times + with the right gripper, and place the spoon back in its original position with the + right gripper. +- Place the red cup towards the center of the table with the left gripper. Grasp the + blue spoon with the right gripper, stir the coffee in the red cup three times with + the right gripper, and place the spoon back in its original position with the right + gripper. +- Place the red cup towards the center of the table with the left gripper. Grasp the + pink spoon with the right gripper, stir the coffee in the red cup three times with + the right gripper, and place the spoon back in its original position with the right + gripper. +- Place the grey cup towards the center of the table with the right gripper. Grasp + the blue spoon with the left gripper, stir the coffee in the grey cup three times + with the left gripper, and place the spoon back in its original position with the + left gripper. +- Place the grey cup towards the center of the table with the right gripper. Grasp + the pink spoon with the left gripper, stir the coffee in the grey cup three times + with the left gripper, and place the spoon back in its original position with the + left gripper. +- Place the red cup towards the center of the table with the right gripper. Grasp + the blue spoon with the left gripper, stir the coffee in the red cup three times + with the left gripper, and place the spoon back in its original position with the + left gripper. +- Place the red cup towards the center of the table with the right gripper. Grasp + the pink spoon with the left gripper, stir the coffee in the red cup three times + with the left gripper, and place the spoon back in its original position with the + left gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the spoon with right gripper. + subtask_index: 1 +- subtask: Move the cup in the center of the table with right gripper. + subtask_index: 2 +- subtask: Stir the coffee with right gripper. + subtask_index: 3 +- subtask: Stir the coffee into the cup. + subtask_index: 4 +- subtask: Pick up the spoon. + subtask_index: 5 +- subtask: Grasp the spoon with left gripper. + subtask_index: 6 +- subtask: Stir the coffee with left gripper. + subtask_index: 7 +- subtask: Move the cup with coffee to the center of view. + subtask_index: 8 +- subtask: Static. + subtask_index: 9 +- subtask: Move the cup in the center of the table with left gripper. + subtask_index: 10 +- subtask: null. + subtask_index: 11 +atomic_actions: +- scoop +- grasp +- pick +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 495 + total_frames: 280886 + fps: 30 + total_tasks: 12 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 2.35 GB +frame_num: 280886 +frame_range: 1M +dataset_size: 2.35 GB +data_structure: 'Split_aloha_stir_coffee_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (483 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:494 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_bread_basket.yaml b/dataset_info/Agilex_Cobot_Magic_storage_bread_basket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5827a0c18ebe4346e4b75b3341ed8461ea8190ba --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_bread_basket.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_bread_basket +dataset_uuid: ce2f59f8-8d38-4e4d-b6c5-55721b6e70fb +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: small_yellow _basket +- object_name: waffle +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the bakery into the basket with the gripper. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Grasp the bread with right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the bread with left gripper. + subtask_index: 3 +- subtask: Place the bread into the basket with right gripper. + subtask_index: 4 +- subtask: Place the bread into the basket with left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- lift +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 32042 + fps: 30 + total_tasks: 7 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 354.51 MB +frame_num: 32042 +frame_range: 100K +dataset_size: 354.51 MB +data_structure: 'Agilex_Cobot_Magic_storage_bread_basket_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_fruit_basket.yaml b/dataset_info/Agilex_Cobot_Magic_storage_fruit_basket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..baa90f795e514270680996450e43f8d1b2cd8b53 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_fruit_basket.yaml @@ -0,0 +1,493 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_fruit_basket +dataset_uuid: aa677292-5a32-4e80-ab78-0aa598818f4c +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: brown_basket +- object_name: banana +- object_name: bread +- object_name: apple +- object_name: laundry_detergent +- object_name: glass_cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up an item from the table with the gripper and place it into the basket. +sub_tasks: +- subtask: Place the apple into the basket with the right gripper. + subtask_index: 0 +- subtask: Place the banana into the basket with the right gripper. + subtask_index: 1 +- subtask: Grasp the round bread with the left gripper. + subtask_index: 2 +- subtask: Grasp the apple with the right gripper. + subtask_index: 3 +- subtask: Place the avocado into the basket with the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Grasp the banana with the right gripper. + subtask_index: 6 +- subtask: Grasp the avocado with the right gripper. + subtask_index: 7 +- subtask: Place the round bread into the basket with the left gripper. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 199 + total_frames: 71385 + fps: 30 + total_tasks: 10 + total_videos: 597 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 1.01 GB +frame_num: 71385 +frame_range: 100K +dataset_size: 1.01 GB +data_structure: 'Agilex_Cobot_Magic_storage_fruit_basket_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (187 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:198 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_fuirt_bowl.yaml b/dataset_info/Agilex_Cobot_Magic_storage_fuirt_bowl.yaml new file mode 100644 index 0000000000000000000000000000000000000000..285184aa2303952a78782bfce3ca706af821e66b --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_fuirt_bowl.yaml @@ -0,0 +1,499 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_fuirt_bowl +dataset_uuid: 30dcbc74-cebe-4d75-a531-87b88a439e63 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bowl +- object_name: green_lemon +- object_name: mango +- object_name: pomegranate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the three fruits on the table with the gripper into a bowl. +sub_tasks: +- subtask: Grasp the pomegranate with left gripper. + subtask_index: 0 +- subtask: Place the pomegranate in the blue bowl with left gripper. + subtask_index: 1 +- subtask: Grasp the pomegranate with right gripper. + subtask_index: 2 +- subtask: Place the green lemon in the blue bowl with right gripper. + subtask_index: 3 +- subtask: Grasp the green lemon with left gripper. + subtask_index: 4 +- subtask: Place the pomegranate in the blue bowl with right gripper. + subtask_index: 5 +- subtask: Place the mango in the blue bowl with right gripper. + subtask_index: 6 +- subtask: Grasp the mango with right gripper. + subtask_index: 7 +- subtask: End. + subtask_index: 8 +- subtask: Place the mango in the blue bowl with left gripper. + subtask_index: 9 +- subtask: Grasp the green lemon with right gripper. + subtask_index: 10 +- subtask: Place the green lemon in the blue bowl with left gripper. + subtask_index: 11 +- subtask: Grasp the mango with left gripper. + subtask_index: 12 +- subtask: null. + subtask_index: 13 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 78670 + fps: 30 + total_tasks: 14 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 740.83 MB +frame_num: 78670 +frame_range: 100K +dataset_size: 740.83 MB +data_structure: 'Agilex_Cobot_Magic_storage_fruit_bowl_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_lemon_mango.yaml b/dataset_info/Agilex_Cobot_Magic_storage_lemon_mango.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4348668894bf2c65392d5c946c505fdebe21910c --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_lemon_mango.yaml @@ -0,0 +1,510 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_lemon_mango +dataset_uuid: d32f40ef-e7b3-403f-be4f-5b8a38655e46 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: brown_basket +- object_name: mango +- object_name: green_lemon +- object_name: rubik's_cube +- object_name: whiteboard_erasers +- object_name: bathing_in_flowers +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up a green lemon or mangoes from the table with the gripper and place them + into a basket. +sub_tasks: +- subtask: Place the mango into the basket with the right gripper. + subtask_index: 0 +- subtask: Grasp the mango with the right gripper. + subtask_index: 1 +- subtask: Grasp the Lemon with the right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Grasp the mango with the left gripper. + subtask_index: 4 +- subtask: Place the Lemon into the basket with the left gripper. + subtask_index: 5 +- subtask: Place the mango into the basket with the left gripper. + subtask_index: 6 +- subtask: Grasp the Lemon with the left gripper. + subtask_index: 7 +- subtask: Place the Lemon into the basket with the right gripper. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 28424 + fps: 30 + total_tasks: 10 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 362.04 MB +frame_num: 28424 +frame_range: 100K +dataset_size: 362.04 MB +data_structure: 'Agilex_Cobot_Magic_storage_lemon_mango_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_object.yaml b/dataset_info/Agilex_Cobot_Magic_storage_object.yaml new file mode 100644 index 0000000000000000000000000000000000000000..524c5d42cba7b79a8532b560ddb4076d9e1abc64 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_object.yaml @@ -0,0 +1,820 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_object +dataset_uuid: 485dfe80-95c6-4635-b844-e0114dc08c1f +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: white_table_cloths +- object_name: table +- object_name: apple +- object_name: yellow_lemon +- object_name: pomegranate +- object_name: bread_dough +- object_name: waffle +- object_name: green_lemon +- object_name: eggplant +- object_name: chewing_gum +- object_name: chocolate +- object_name: mango +- object_name: chewing_gum +- object_name: mint_candy +- object_name: mangosteen +- object_name: orange +- object_name: bread +- object_name: banana +- object_name: cake +- object_name: beef_cheeseburger +- object_name: bowl +- object_name: pan +- object_name: small_teapot +- object_name: small_teacup +- object_name: paper_ball +- object_name: brown_square_towel +- object_name: black_cylindrical_pen_holder +- object_name: pink_long_towel +- object_name: whiteboard_eraser +- object_name: mentholatum_facial_cleanser +- object_name: duck +- object_name: compass +- object_name: bowl +- object_name: blue_long_towel +- object_name: pearMint candy +- object_name: mint_candy +- object_name: triangular_bread +- object_name: long_bread +- object_name: chinese_cabbage +- object_name: peach +- object_name: can +- object_name: bathing_in_flowers +- object_name: wok +- object_name: red_bull_canned_drink +- object_name: eyeglass_case +- object_name: coke (Slim Can) +- object_name: wahaha_AD_calcium +- object_name: brave_the_world_beer +- object_name: brave_the_world_beer +- object_name: shampoo +- object_name: cleanser +- object_name: sausage +- object_name: french_fries +- object_name: purple_trash_bag +- object_name: red_date +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up an item with the gripper and place it into a random container on the table. +sub_tasks: +- subtask: Grasp the pink towel with the right gripper. + subtask_index: 0 +- subtask: Place the XX into the purple pot with the left gripper. + subtask_index: 1 +- subtask: Grasp the yellow lemon with the right gripper. + subtask_index: 2 +- subtask: Grasp the AD milk with the left gripper. + subtask_index: 3 +- subtask: Place the plush banana into the pink bowl with the left gripper. + subtask_index: 4 +- subtask: Place the beer into the purple pot with the right gripper. + subtask_index: 5 +- subtask: Place the green lemon into the pink bowl with the right gripper. + subtask_index: 6 +- subtask: Grasp the red bull with the right gripper. + subtask_index: 7 +- subtask: Grasp the beer with the right gripper. + subtask_index: 8 +- subtask: Place the hollow ring bread into the red pot with the left gripper. + subtask_index: 9 +- subtask: Grasp the banana with the left gripper. + subtask_index: 10 +- subtask: Place the yellow lemon into the pink bowl with the left gripper. + subtask_index: 11 +- subtask: Place the yellow lemon into the blue bowl with the right gripper. + subtask_index: 12 +- subtask: Grasp the pink laundry detergent with the left gripper. + subtask_index: 13 +- subtask: Place the eggplant into the purple pot with the right gripper. + subtask_index: 14 +- subtask: Grasp the apple with the right gripper. + subtask_index: 15 +- subtask: Place the peach into the red pot with the left gripper. + subtask_index: 16 +- subtask: Place the red bull into the blue bowl with the left gripper. + subtask_index: 17 +- subtask: Place the blue garbage bag into the pen container with the right gripper. + subtask_index: 18 +- subtask: Grasp the shampoo with the right gripper. + subtask_index: 19 +- subtask: Place the plush banana into the pink bowl with the right gripper. + subtask_index: 20 +- subtask: Place the banana into the red pot with the left gripper. + subtask_index: 21 +- subtask: Place the apple into the red pot with the left gripper. + subtask_index: 22 +- subtask: Place the round chewing gum into the pen container with the left gripper. + subtask_index: 23 +- subtask: Place the beer into the pink pot with the left gripper. + subtask_index: 24 +- subtask: Place the yellow cake into the pink bowl with the left gripper. + subtask_index: 25 +- subtask: Place the tin into the red pot with the right gripper. + subtask_index: 26 +- subtask: Place the blue garbage bag into the purple pot with the left gripper. + subtask_index: 27 +- subtask: Place the croissant into the purple pot with the right gripper. + subtask_index: 28 +- subtask: Place the shampoo into the blue bowl with the left gripper. + subtask_index: 29 +- subtask: Grasp the yellow lemon with the left gripper. + subtask_index: 30 +- subtask: Place the eyeglass case into the purple pot with the right gripper. + subtask_index: 31 +- subtask: Grasp the white blackboard erasure with the left gripper. + subtask_index: 32 +- subtask: Place the yogurt into the pink bowl with the right gripper. + subtask_index: 33 +- subtask: Place the blue garbage bag into the pink pot with the right gripper. + subtask_index: 34 +- subtask: Place the green lemon into the blue bowl with the left gripper. + subtask_index: 35 +- subtask: Place the apple into the pink pot with the left gripper. + subtask_index: 36 +- subtask: Grasp the eyeglass case with the right gripper. + subtask_index: 37 +- subtask: Place the yellow cake into the blue bowl with the left gripper. + subtask_index: 38 +- subtask: Place the red bull into the pen container with the right gripper. + subtask_index: 39 +- subtask: Place the croissant into the pink bowl with the left gripper. + subtask_index: 40 +- subtask: Grasp the shower sphere with the left gripper. + subtask_index: 41 +- subtask: Grasp the yogurt with the right gripper. + subtask_index: 42 +- subtask: Grasp the croissant with the left gripper. + subtask_index: 43 +- subtask: Grasp the tin with the left gripper. + subtask_index: 44 +- subtask: Grasp the long bread with the right gripper. + subtask_index: 45 +- subtask: Grasp the hard facial cleanser with the left gripper. + subtask_index: 46 +- subtask: Place the mango into the pink bowl with the left gripper. + subtask_index: 47 +- subtask: Grasp the plush banana with the left gripper. + subtask_index: 48 +- subtask: Place the pink laundry detergent into the pen container with the left gripper. + subtask_index: 49 +- subtask: Place the soft facial cleanser into the pink bowl with the right gripper. + subtask_index: 50 +- subtask: Grasp the peach with the right gripper. + subtask_index: 51 +- subtask: Grasp the mango with the left gripper. + subtask_index: 52 +- subtask: Place the round chewing gum into the pink pot with the left gripper. + subtask_index: 53 +- subtask: Place the white blackboard erasure into the pink bowl with the left gripper. + subtask_index: 54 +- subtask: Place the peach into the pink bowl with the left gripper. + subtask_index: 55 +- subtask: Grasp the pear with the left gripper. + subtask_index: 56 +- subtask: Place the tin into the pink pot with the left gripper. + subtask_index: 57 +- subtask: Place the cleaning agent into the pen container with the left gripper. + subtask_index: 58 +- subtask: Place the shampoo into the blue bowl with the right gripper. + subtask_index: 59 +- subtask: Grasp the hollow ring bread with the right gripper. + subtask_index: 60 +- subtask: Place the shower sphere into the pink bowl with the right gripper. + subtask_index: 61 +- subtask: Place the pear into the purple pot with the left gripper. + subtask_index: 62 +- subtask: Place the round chewing gum into the pen container with the right gripper. + subtask_index: 63 +- subtask: Grasp the peach with the left gripper. + subtask_index: 64 +- subtask: Grasp the long bread with the left gripper. + subtask_index: 65 +- subtask: Grasp the eggplant with the right gripper. + subtask_index: 66 +- subtask: Place the blue garbage bag into the pink bowl with the right gripper. + subtask_index: 67 +- subtask: Place the croissant into the red pot with the left gripper. + subtask_index: 68 +- subtask: Grasp the green lemon with the right gripper. + subtask_index: 69 +- subtask: Place the beer into the blue bowl with the left gripper. + subtask_index: 70 +- subtask: Place the shampoo into the purple pot with the right gripper. + subtask_index: 71 +- subtask: Grasp the shampoo with the left gripper. + subtask_index: 72 +- subtask: Place the pink towel into the red pot with the left gripper. + subtask_index: 73 +- subtask: Place the peach into the purple pot with the right gripper. + subtask_index: 74 +- subtask: End. + subtask_index: 75 +- subtask: Place the mint candy into the pink bowl with the right gripper. + subtask_index: 76 +- subtask: Place the eggplant into the pen container with the right gripper. + subtask_index: 77 +- subtask: Grasp the beer with the left gripper. + subtask_index: 78 +- subtask: Place the AD milk into the pen container with the left gripper. + subtask_index: 79 +- subtask: Place the banana into the pink bowl with the left gripper. + subtask_index: 80 +- subtask: Grasp the tin with the right gripper. + subtask_index: 81 +- subtask: Place the tin into the pink pot with the right gripper. + subtask_index: 82 +- subtask: Place the AD milk into the pink pot with the left gripper. + subtask_index: 83 +- subtask: Place the shower sphere into the purple pot with the right gripper. + subtask_index: 84 +- subtask: Place the long bread into the red pot with the left gripper. + subtask_index: 85 +- subtask: Grasp the yellow cake with the right gripper. + subtask_index: 86 +- subtask: Grasp the croissant with the right gripper. + subtask_index: 87 +- subtask: Grasp the red bull with the left gripper. + subtask_index: 88 +- subtask: Place the peach into the pink bowl with the right gripper. + subtask_index: 89 +- subtask: Place the tin into the pen container with the right gripper. + subtask_index: 90 +- subtask: Place the long bread into the purple pot with the right gripper. + subtask_index: 91 +- subtask: Place the orange into the pink pot with the left gripper. + subtask_index: 92 +- subtask: Place the yellow cake into the blue bowl with the right gripper. + subtask_index: 93 +- subtask: Grasp the pink towel with the left gripper. + subtask_index: 94 +- subtask: Place the croissant into the pink bowl with the right gripper. + subtask_index: 95 +- subtask: Place the hard facial cleanser into the pink bowl with the left gripper. + subtask_index: 96 +- subtask: Place the round chewing gum into the red pot with the right gripper. + subtask_index: 97 +- subtask: Grasp the blue garbage bag with the right gripper. + subtask_index: 98 +- subtask: Grasp the tin with the right gripper. + subtask_index: 99 +- subtask: Grasp the orange with the left gripper. + subtask_index: 100 +- subtask: Grasp the blue garbage bag with the left gripper. + subtask_index: 101 +- subtask: Place the shower sphere into the pink bowl with the left gripper. + subtask_index: 102 +- subtask: Place the yogurt into the red pot with the right gripper. + subtask_index: 103 +- subtask: Place the peach into the pink pot with the right gripper. + subtask_index: 104 +- subtask: Grasp the hollow ring bread with the left gripper. + subtask_index: 105 +- subtask: Grasp the apple with the left gripper. + subtask_index: 106 +- subtask: Place the tin into the red pot with the left gripper. + subtask_index: 107 +- subtask: Place the beer into the red pot with the left gripper. + subtask_index: 108 +- subtask: Place the blue garbage bag into the pink bowl with the left gripper. + subtask_index: 109 +- subtask: Place the mango into the purple pot with the right gripper. + subtask_index: 110 +- subtask: Place the tin into the blue bowl with the left gripper. + subtask_index: 111 +- subtask: Place the apple into the blue bowl with the left gripper. + subtask_index: 112 +- subtask: Grasp the shower sphere with the right gripper. + subtask_index: 113 +- subtask: Place the red bull into the pink bowl with the left gripper. + subtask_index: 114 +- subtask: Grasp the yellow cake with the left gripper. + subtask_index: 115 +- subtask: Grasp the round chewing gum with the right gripper. + subtask_index: 116 +- subtask: Grasp the cleaning agent with the left gripper. + subtask_index: 117 +- subtask: Place the coke into the pink pot with the left gripper. + subtask_index: 118 +- subtask: Place the pink towelinto the pink bowl with the right gripper. + subtask_index: 119 +- subtask: Grasp the round chewing gum with the left gripper. + subtask_index: 120 +- subtask: Place the green lemon into the purple pot with the left gripper. + subtask_index: 121 +- subtask: Place the hollow ring bread into the purple pot with the right gripper. + subtask_index: 122 +- subtask: Place the peach into the purple pot with the left gripper. + subtask_index: 123 +- subtask: Place the yellow cake into the pen container with the right gripper. + subtask_index: 124 +- subtask: Place the apple into the pink pot with the right gripper. + subtask_index: 125 +- subtask: Place the red bull into the pink pot with the right gripper. + subtask_index: 126 +- subtask: Place the tin into the purple pot with the left gripper. + subtask_index: 127 +- subtask: Place the yellow lemon into the pink bowl with the right gripper. + subtask_index: 128 +- subtask: Grasp the mango with the right gripper. + subtask_index: 129 +- subtask: Place the banana into the red pot with the right gripper. + subtask_index: 130 +- subtask: Grasp the mint candy with the right gripper. + subtask_index: 131 +- subtask: Place the apple into the pink bowl with the left gripper. + subtask_index: 132 +- subtask: Grasp the soft facial cleanser with the right gripper. + subtask_index: 133 +- subtask: Grasp the green lemon with the left gripper. + subtask_index: 134 +- subtask: Place the red bull into the red pot with the left gripper. + subtask_index: 135 +- subtask: Grasp the coke with the left gripper. + subtask_index: 136 +- subtask: Place the cleaning agent into the pink bowl with the left gripper. + subtask_index: 137 +- subtask: Grasp the banana with the right gripper. + subtask_index: 138 +- subtask: Grasp the plush banana with the right gripper. + subtask_index: 139 +- subtask: null. + subtask_index: 140 +atomic_actions: +- grasp +- lift +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 49237 + fps: 30 + total_tasks: 141 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 855.52 MB +frame_num: 49237 +frame_range: 100K +dataset_size: 855.52 MB +data_structure: 'Agilex_Cobot_Magic_storage_object_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_object_basket.yaml b/dataset_info/Agilex_Cobot_Magic_storage_object_basket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3e41ad2743efc31298856354a2e43b1dbcc0085c --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_object_basket.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_object_basket +dataset_uuid: 4bdf2875-4362-44c6-a196-0257414dc31f +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: brown_basket +- object_name: banana +- object_name: bread +- object_name: apple +- object_name: avocado +- object_name: glass_cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Store the items on the table into the basket with the right gripper. +sub_tasks: +- subtask: Place the XX into the basket with the left gripper. + subtask_index: 0 +- subtask: Grasp the XX with the right gripper. + subtask_index: 1 +- subtask: Grasp the XX with the left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the XX into the basket with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 38216 + fps: 30 + total_tasks: 6 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 585.87 MB +frame_num: 38216 +frame_range: 100K +dataset_size: 585.87 MB +data_structure: 'Agilex_Cobot_Magic_storage_object_basket_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_object_closest.yaml b/dataset_info/Agilex_Cobot_Magic_storage_object_closest.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a016da30e2eb8e42b11cbdf5ccbc2131472ad902 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_object_closest.yaml @@ -0,0 +1,526 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_object_closest +dataset_uuid: 202c948f-7409-47ef-ad5c-ff36f183984c +scene_type: + level1: household + level2: bathroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: brown_basket +- object_name: mentholatum_facial_cleanser +- object_name: toothpaste +- object_name: cleanser +- object_name: blue_moon_laundry_detergent +- object_name: shampoo +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the object closest to the toothpaste into the basket with the gripper. +sub_tasks: +- subtask: Grasp the shampoo with left gripper. + subtask_index: 0 +- subtask: Grasp the soft facial cleanser with right gripper. + subtask_index: 1 +- subtask: Place the pink laundry detergent into the basket with right gripper. + subtask_index: 2 +- subtask: Place the cleaning agent into the basket with left gripper. + subtask_index: 3 +- subtask: Place the shampoo into the basket with right gripper. + subtask_index: 4 +- subtask: Grasp the shampoo with right gripper. + subtask_index: 5 +- subtask: Place the pink laundry detergent into the basket with left gripper. + subtask_index: 6 +- subtask: Place the soft facial cleanser into the basket with right gripper. + subtask_index: 7 +- subtask: Grasp the pink laundry detergent with right gripper. + subtask_index: 8 +- subtask: Grasp the soft facial cleanser with left gripper. + subtask_index: 9 +- subtask: Place the cleaning agent into the basket with right gripper. + subtask_index: 10 +- subtask: Place the soft facial cleanser into the basket with left gripper. + subtask_index: 11 +- subtask: Grasp the pink laundry detergent with left gripper. + subtask_index: 12 +- subtask: Place the shampoo into the basket with left gripper. + subtask_index: 13 +- subtask: End. + subtask_index: 14 +- subtask: Grasp the cleaning agent with right gripper. + subtask_index: 15 +- subtask: Grasp the cleaning agent with left gripper. + subtask_index: 16 +- subtask: null. + subtask_index: 17 +atomic_actions: +- grasp +- lift +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 29779 + fps: 30 + total_tasks: 18 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 506.53 MB +frame_num: 29779 +frame_range: 100K +dataset_size: 506.53 MB +data_structure: 'Agilex_Cobot_Magic_storage_object_closest_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_object_closest_apple.yaml b/dataset_info/Agilex_Cobot_Magic_storage_object_closest_apple.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f4960a9a14ad45694289de8bd04eeef25976b0a5 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_object_closest_apple.yaml @@ -0,0 +1,525 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_object_closest_apple +dataset_uuid: 563e1f68-176e-4bf2-a8d5-3b9a60a42fa3 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: brown_basket +- object_name: mango +- object_name: apple +- object_name: rubik's_cube +- object_name: whiteboard_erasers +- object_name: bathing_in_flowers +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the item closest to the apple with the picker and place it into the basket. +sub_tasks: +- subtask: Grasp the Rubik's Cube with the left gripper. + subtask_index: 0 +- subtask: Grasp the chalkboard eraser with the right gripper. + subtask_index: 1 +- subtask: Place the chalkboard eraser into the basket with the right gripper. + subtask_index: 2 +- subtask: Place the shower sphere into the basket with the left gripper. + subtask_index: 3 +- subtask: Place the mango into the basket with the right gripper. + subtask_index: 4 +- subtask: Place the Rubik's Cube into the basket with the left gripper. + subtask_index: 5 +- subtask: Place the shower sphere into the basket with the right gripper. + subtask_index: 6 +- subtask: Grasp the mango with the right gripper. + subtask_index: 7 +- subtask: Grasp the Rubik's Cube with the right gripper. + subtask_index: 8 +- subtask: End. + subtask_index: 9 +- subtask: Place the Rubik's Cube into the basket with the right gripper. + subtask_index: 10 +- subtask: Grasp the mango with the left gripper. + subtask_index: 11 +- subtask: Place the mango into the basket with the left gripper. + subtask_index: 12 +- subtask: Grasp the shower sphere with the right gripper. + subtask_index: 13 +- subtask: Place the chalkboard eraser into the basket with the left gripper. + subtask_index: 14 +- subtask: Grasp the shower sphere with the left gripper. + subtask_index: 15 +- subtask: Grasp the chalkboard eraser with the left gripper. + subtask_index: 16 +- subtask: null. + subtask_index: 17 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 13231 + fps: 30 + total_tasks: 18 + total_videos: 147 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 189.68 MB +frame_num: 13231 +frame_range: 100K +dataset_size: 189.68 MB +data_structure: 'Agilex_Cobot_Magic_storage_object_closest_apple_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_object_closest_cube.yaml b/dataset_info/Agilex_Cobot_Magic_storage_object_closest_cube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..50120c03073c3adeb5a0c60ad9396db2f6dc781d --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_object_closest_cube.yaml @@ -0,0 +1,506 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_object_closest_cube +dataset_uuid: 983154c9-dcf9-446b-b5ee-2707b470f185 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: brown_basket +- object_name: mango +- object_name: apple +- object_name: rubik's_cube +- object_name: whiteboard_erasers +- object_name: bathing_in_flowers +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the item closest to the cube with the picker and place it into the basket + with the picker. +sub_tasks: +- subtask: Place the apple into the basket with the right gripper. + subtask_index: 0 +- subtask: Place the blackboard erasure into the basket with the left gripper. + subtask_index: 1 +- subtask: Place the mango into the basket with the right gripper. + subtask_index: 2 +- subtask: Grasp the mango with the right gripper. + subtask_index: 3 +- subtask: Grasp the blackboard erasure with the right gripper. + subtask_index: 4 +- subtask: Grasp the Shower puff with the left gripper. + subtask_index: 5 +- subtask: Place the Shower puff into the basket with the right gripper. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: Place the Shower puff into the basket with the left gripper. + subtask_index: 8 +- subtask: Grasp the mango with the left gripper. + subtask_index: 9 +- subtask: Place the mango into the basket with the left gripper. + subtask_index: 10 +- subtask: Grasp the Shower puff with the right gripper. + subtask_index: 11 +- subtask: Grasp the apple with the right gripper. + subtask_index: 12 +- subtask: Grasp the blackboard erasure with the left gripper. + subtask_index: 13 +- subtask: Place the blackboard erasure into the basket with the right gripper. + subtask_index: 14 +- subtask: null. + subtask_index: 15 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 12420 + fps: 30 + total_tasks: 16 + total_videos: 147 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 154.90 MB +frame_num: 12420 +frame_range: 100K +dataset_size: 154.90 MB +data_structure: 'Agilex_Cobot_Magic_storage_object_closest_cube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_object_left.yaml b/dataset_info/Agilex_Cobot_Magic_storage_object_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..513a0882b6d83ec859b3a484b9854ef93f9c8c3d --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_object_left.yaml @@ -0,0 +1,517 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_object_left +dataset_uuid: 4516334c-0a50-461d-ab66-7e52ee12b482 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: brown_basket +- object_name: mango +- object_name: green_lemon +- object_name: rubik's_cube +- object_name: whiteboard_erasers +- object_name: bathing_in_flowers +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up items from the table with the gripper and place them into the basket with + the gripper. +sub_tasks: +- subtask: Grasp the Rubik's Cube with the left gripper. + subtask_index: 0 +- subtask: Place the Rubik's Cube into the basket with the left gripper. + subtask_index: 1 +- subtask: Grasp the apple rubber puff with the left gripper. + subtask_index: 2 +- subtask: Grasp the mango with the right gripper. + subtask_index: 3 +- subtask: Grasp the Shower puff with the left gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Place the apple rubber puff into the basket with the left gripper. + subtask_index: 6 +- subtask: Place the Shower puff into the basket with the left gripper. + subtask_index: 7 +- subtask: Grasp the mango with the left gripper. + subtask_index: 8 +- subtask: Place the mango into the basket with the left gripper. + subtask_index: 9 +- subtask: Place the chalkboard eraser into the basket with the left gripper. + subtask_index: 10 +- subtask: Grasp the chalkboard eraser with the left gripper. + subtask_index: 11 +- subtask: null. + subtask_index: 12 +atomic_actions: +- grasp +- lift +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 26742 + fps: 30 + total_tasks: 13 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 360.15 MB +frame_num: 26742 +frame_range: 100K +dataset_size: 360.15 MB +data_structure: 'Agilex_Cobot_Magic_storage_object_left_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_object_red_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_storage_object_red_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2f13fb4b66107612bdfb07189f058ba9ce726736 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_object_red_tablecloth.yaml @@ -0,0 +1,581 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_object_red_tablecloth +dataset_uuid: 6a083f2b-cd2b-4984-9d23-a3d2d25f7fad +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: red_table_cloths +- object_name: table +- object_name: apple +- object_name: yellow_lemon +- object_name: pomegranate +- object_name: bread_dough +- object_name: waffle +- object_name: green_lemon +- object_name: eggplant +- object_name: chewing_gum +- object_name: chocolate +- object_name: mango +- object_name: chewing_gum +- object_name: mint_candy +- object_name: mangosteen +- object_name: orange +- object_name: bread +- object_name: banana +- object_name: cake +- object_name: beef_cheeseburger +- object_name: bowl +- object_name: pan +- object_name: small_teapot +- object_name: small_teacup +- object_name: paper_ball +- object_name: brown_square_towel +- object_name: black_cylindrical_pen_holder +- object_name: pink_long_towel +- object_name: whiteboard_eraser +- object_name: mentholatum_facial_cleanser +- object_name: duck +- object_name: compass +- object_name: bowl +- object_name: blue_long_towel +- object_name: pearMint candy +- object_name: mint_candy +- object_name: triangular_bread +- object_name: long_bread +- object_name: chinese_cabbage +- object_name: peach +- object_name: can +- object_name: bathing_in_flowers +- object_name: wok +- object_name: red_bull_canned_drink +- object_name: eyeglass_case +- object_name: coke (Slim Can) +- object_name: wahaha_AD_calcium +- object_name: brave_the_world_beer +- object_name: brave_the_world_beer +- object_name: shampoo +- object_name: cleanser +- object_name: sausage +- object_name: french_fries +- object_name: purple_trash_bag +- object_name: red_date +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up an item with the gripper and place it into a random container on the desktop. +sub_tasks: +- subtask: Place the XX into the blue bowl with the left gripper. + subtask_index: 0 +- subtask: Place the XX into the purple pot with the right gripper. + subtask_index: 1 +- subtask: Place the XX into the pink pot with the right gripper. + subtask_index: 2 +- subtask: Grasp the XX with the right gripper. + subtask_index: 3 +- subtask: Place the XX into the purple pot with the left gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Place the XX into the pink pot with the left gripper. + subtask_index: 6 +- subtask: Place the XX into the cyan plate with the right gripper. + subtask_index: 7 +- subtask: Place the XX into the cyan plate with the left gripper. + subtask_index: 8 +- subtask: Place the XX into the red pot with the left gripper. + subtask_index: 9 +- subtask: Place the XX into the pen container with the right gripper. + subtask_index: 10 +- subtask: Grasp the XX with the left gripper. + subtask_index: 11 +- subtask: Place the XX into the blue bowl with the right gripper. + subtask_index: 12 +- subtask: Place the XX into the pink bowl with the left gripper. + subtask_index: 13 +- subtask: Place the XX into the red pot with the right gripper. + subtask_index: 14 +- subtask: Place the XX into the pink bowl with the right gripper. + subtask_index: 15 +- subtask: Place the XX into the white plate with the left gripper. + subtask_index: 16 +- subtask: Place the XX into the white plate with the right gripper. + subtask_index: 17 +- subtask: Place the XX into the blue plate with the left gripper. + subtask_index: 18 +- subtask: Place the XX into the pen container with the left gripper. + subtask_index: 19 +- subtask: Place the XX into the blue plate with the right gripper. + subtask_index: 20 +- subtask: null. + subtask_index: 21 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 200 + total_frames: 99000 + fps: 30 + total_tasks: 22 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 2.88 GB +frame_num: 99000 +frame_range: 100K +dataset_size: 2.88 GB +data_structure: 'Agilex_Cobot_Magic_storage_object_red_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (188 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:199 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_orange_basket_left.yaml b/dataset_info/Agilex_Cobot_Magic_storage_orange_basket_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a4752a339003bcf3bf8cf82dc4a8abc973f3959e --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_orange_basket_left.yaml @@ -0,0 +1,496 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_orange_basket_left +dataset_uuid: ba413df5-0ce7-443e-8d57-ec4f8705a61e +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: brown_basket +- object_name: orange +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the oranges with the left gripper and place them into the basket. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the orange into the basket with left gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Grasp the orange with left gripper. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- lift +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 40181 + fps: 30 + total_tasks: 5 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 488.80 MB +frame_num: 40181 +frame_range: 100K +dataset_size: 488.80 MB +data_structure: 'Agilex_Cobot_Magic_storage_orange_basket_left_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_orange_basket_right.yaml b/dataset_info/Agilex_Cobot_Magic_storage_orange_basket_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..073656139223e9779d31efe0c089cdbba1f8f0af --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_orange_basket_right.yaml @@ -0,0 +1,496 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_orange_basket_right +dataset_uuid: 1e28e24c-bb11-49b3-a30c-70e983fda51c +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: brown_basket +- object_name: orange +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the oranges with the right gripper and place them into the basket. +sub_tasks: +- subtask: Place the orange into the basket with right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Grasp the orange with right gripper. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- lift +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 22531 + fps: 30 + total_tasks: 5 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 233.17 MB +frame_num: 22531 +frame_range: 100K +dataset_size: 233.17 MB +data_structure: 'Agilex_Cobot_Magic_storage_orange_basket_right_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_orange_white_bag.yaml b/dataset_info/Agilex_Cobot_Magic_storage_orange_white_bag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6829b61bff17bfcf7b91de756f743f25a2fea45d --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_orange_white_bag.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_orange_white_bag +dataset_uuid: 4e21ffb5-58bf-4451-82fc-3005435aa9db +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: brown_basket +- object_name: white_canvas_bags +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the white linen bag with the gripper. Place the orange into the bag with the + gripper. +sub_tasks: +- subtask: Grasp the orange with right gripper. + subtask_index: 0 +- subtask: Grasp the orange with left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Lift the handbag with left gripper. + subtask_index: 3 +- subtask: Place the orange in the handbag with right gripper. + subtask_index: 4 +- subtask: Place the orange into the basket with right gripper. + subtask_index: 5 +- subtask: place down the handbag with left gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 43104 + fps: 30 + total_tasks: 8 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 406.02 MB +frame_num: 43104 +frame_range: 100K +dataset_size: 406.02 MB +data_structure: 'Agilex_Cobot_Magic_storage_orange_white_bag_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_peach_brown_bag.yaml b/dataset_info/Agilex_Cobot_Magic_storage_peach_brown_bag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a6eeea8660d421fe9afb03e0be73e84ef2de47c8 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_peach_brown_bag.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_peach_brown_bag +dataset_uuid: e867b6cc-c4fb-44ab-b4f9-bd97b468fa70 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: brown_basket +- object_name: brown_canvas_bags +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the brown linen bag with the gripper. Place the peach into the bag with the + gripper. +sub_tasks: +- subtask: place down the handbag with left grippe. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the peach in the handbag with right gripper. + subtask_index: 2 +- subtask: Lift the handbag with left gripper. + subtask_index: 3 +- subtask: Grasp the peach with right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 49252 + fps: 30 + total_tasks: 6 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 568.64 MB +frame_num: 49252 +frame_range: 100K +dataset_size: 568.64 MB +data_structure: 'Agilex_Cobot_Magic_storage_peach_brown_bag_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_peach_left.yaml b/dataset_info/Agilex_Cobot_Magic_storage_peach_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0886078b1ce9a7107e544d74b5d1439f17da211f --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_peach_left.yaml @@ -0,0 +1,496 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_peach_left +dataset_uuid: 3b1e210a-cabb-43f7-9c0c-b6200bf67a1f +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: brown_basket +- object_name: peach +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the peach into the basket with the left gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the peach into the basket with left gripper. + subtask_index: 1 +- subtask: Grasp the peach with left gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- lift +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 21979 + fps: 30 + total_tasks: 5 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 264.71 MB +frame_num: 21979 +frame_range: 100K +dataset_size: 264.71 MB +data_structure: 'Agilex_Cobot_Magic_storage_peach_left_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_peach_right.yaml b/dataset_info/Agilex_Cobot_Magic_storage_peach_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6dd48d00d280bafbbc4246bb1507306ffd82fbfb --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_peach_right.yaml @@ -0,0 +1,496 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_peach_right +dataset_uuid: a4efcd24-7563-48fa-81e1-49a39810be17 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: brown_basket +- object_name: peach +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the peach into the basket with the right gripper. +sub_tasks: +- subtask: Grasp the peach with right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the peach into the basket with right gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- lift +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 25876 + fps: 30 + total_tasks: 5 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 277.18 MB +frame_num: 25876 +frame_range: 100K +dataset_size: 277.18 MB +data_structure: 'Agilex_Cobot_Magic_storage_peach_right_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_peach_white_bag.yaml b/dataset_info/Agilex_Cobot_Magic_storage_peach_white_bag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3b41ff7240430a07c9b310ad76ee310af322a596 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_peach_white_bag.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_peach_white_bag +dataset_uuid: 3b033d2e-9915-4eb3-b51f-d352277588b2 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: brown_basket +- object_name: white_canvas_bags +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the white linen bag with the gripper. Place the peach into the bag with the + gripper. +sub_tasks: +- subtask: Lift the handbag with right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the peach in the handbag with right gripper. + subtask_index: 2 +- subtask: Lift the handbag with left gripper. + subtask_index: 3 +- subtask: Grasp the peach with right gripper. + subtask_index: 4 +- subtask: place down the handbag with left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- lift +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 42094 + fps: 30 + total_tasks: 7 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 392.58 MB +frame_num: 42094 +frame_range: 100K +dataset_size: 392.58 MB +data_structure: 'Agilex_Cobot_Magic_storage_peach_white_bag_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_towel.yaml b/dataset_info/Agilex_Cobot_Magic_storage_towel.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fc026d9a328b84d43c6b19be0290bb2807db7331 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_towel.yaml @@ -0,0 +1,493 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_storage_towel +dataset_uuid: 119b6a9a-5408-4f57-83fe-4156b1afd9f0 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the folded towels with the gripper and place them into the basket. +sub_tasks: +- subtask: 'Right gripper: pick up the folded purple towel.' + subtask_index: 0 +- subtask: 'Right gripper: pick up the folded brown towel.' + subtask_index: 1 +- subtask: 'Right gripper: pick up the folded grey towel.' + subtask_index: 2 +- subtask: 'Right gripper: place the blue towel in right basket.' + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: 'Right gripper: place the grey towel in right basket.' + subtask_index: 5 +- subtask: 'Right gripper: place the purple towel in right basket.' + subtask_index: 6 +- subtask: 'Right gripper: place the brown towel in right basket.' + subtask_index: 7 +- subtask: 'Right gripper: pick up the folded blue towel.' + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- fold +- lift +- place +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 1176 + total_frames: 512832 + fps: 30 + total_tasks: 10 + total_videos: 3528 + total_chunks: 1 + chunks_size: 10000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 34.54 GB +frame_num: 512832 +frame_range: 1M +dataset_size: 34.54 GB +data_structure: 'Agilex_Cobot_Magic_storage_towel_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (1164 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:1175 + val: 960:1080 + test: 1080:1201 +features: + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_sweep_coffee_beans.yaml b/dataset_info/Agilex_Cobot_Magic_sweep_coffee_beans.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3983800ed9acb7b335fe31006f7e24614b8b34f0 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_sweep_coffee_beans.yaml @@ -0,0 +1,493 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_sweep_coffee_beans +dataset_uuid: 09c1f613-16b7-4bd9-8885-6c6c56880804 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: storage_rack +- object_name: coffee_beans +- object_name: dustpan +- object_name: small_broom +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the brush on the shelf with the gripper. Grasp the dustpan on the table + with the left gripper. Use the brush to wipe the coffee beans on the table into + the dustpan with the gripper. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Left gripper:place the dustpan on the table. + subtask_index: 1 +- subtask: Right gripper:wipe the coffee beans into the dustpan. + subtask_index: 2 +- subtask: 'Left gripper: pick up the dustpan.' + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Right gripper:place the broom on the rack. + subtask_index: 5 +- subtask: 'Left gripper: move the dustpan to the left side of the coffee beans.' + subtask_index: 6 +- subtask: Right gripper:pick up the broom. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- pick +- place +- wipe +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_right_wrist_rgb +- cam_left_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 359 + total_frames: 331666 + fps: 30 + total_tasks: 9 + total_videos: 1077 + total_chunks: 1 + chunks_size: 10000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 13.24 GB +frame_num: 331666 +frame_range: 1M +dataset_size: 13.24 GB +data_structure: 'Agilex_Cobot_Magic_sweep_coffee_bean_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (347 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:358 +features: + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - right_gripper_open + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.fps: 30.0 + video.height: 480 + video.width: 640 + video.channels: 3 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_right_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_wipe_table.yaml b/dataset_info/Agilex_Cobot_Magic_wipe_table.yaml new file mode 100644 index 0000000000000000000000000000000000000000..891d8594ea3a697d77a2553eab2c05f7ab5270d9 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_wipe_table.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_wipe_table +dataset_uuid: 18848f29-f6ff-4f8a-ab4d-acc67d812c64 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cup +- object_name: rag +- object_name: stain +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the fallen cup with the left gripper and place it upright. Grasp the black + rag with the right gripper and wipe the stain on the table. Place the black rag + back in its original position with the right gripper. +sub_tasks: +- subtask: Grasp the rag with right gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Place the rag on the table with right gripper. + subtask_index: 2 +- subtask: Stand the paper cup upright with left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: Grasp the paper cup with left gripper. + subtask_index: 6 +- subtask: Wipe the stains off the table with the rag with right gripper. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- place +- pick +- wipe +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 200 + total_frames: 106804 + fps: 30 + total_tasks: 9 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 1.28 GB +frame_num: 106804 +frame_range: 1M +dataset_size: 1.28 GB +data_structure: 'Split_aloha_wipe_table_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (188 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:199 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_wipe_the_table.yaml b/dataset_info/Agilex_Cobot_Magic_wipe_the_table.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2daf9304dfa21bdce98b5bacb2382d0286b5db9f --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_wipe_the_table.yaml @@ -0,0 +1,478 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_wipe_the_table +dataset_uuid: c5648c51-14f0-4d84-a3cc-2fd1c28069a8 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cup +- object_name: rag +- object_name: stain +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the fallen cup with the left gripper and place it upright. Grasp the blue + rag with the right gripper and wipe the coffee stain on the table with the right + gripper. Place the blue rag back in its original position with the right gripper. +- Pick up the fallen cup with the left gripper and place it upright. Grasp the purple + rag with the right gripper and wipe the coffee stain on the table with it. Place + the purple rag back in its original position with the right gripper. +- Pick up the fallen cup with the left gripper and place it upright. Grasp the blue + rag with the right gripper and wipe the tea stain on the table with it. Place the + blue rag back in its original position with the right gripper. +sub_tasks: +- subtask: Stand the paper cup upright. + subtask_index: 0 +- subtask: Wipe the stains off the table with a rag. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- place +- pick +- wipe +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 302 + total_frames: 166266 + fps: 30 + total_tasks: 3 + total_videos: 906 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 1.35 GB +frame_num: 166266 +frame_range: 1M +dataset_size: 1.35 GB +data_structure: 'Split_aloha_wipe_the_table_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (290 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:301 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_zip_up_the_document_bag.yaml b/dataset_info/Agilex_Cobot_Magic_zip_up_the_document_bag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..36fc80f1ef5944976732f6821a12522fbf743186 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_zip_up_the_document_bag.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_zip_up_the_document_bag +dataset_uuid: e06c5784-df23-4a4a-b86d-adc2bcf12bae +scene_type: + level1: office + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: document_bag +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp one corner of the bag with the left gripper, pull the green zipper with the + right gripper, and place down the bag with the left gripper. +- Grasp one corner of the bag with the left gripper, pull the red zipper with the + right gripper, and place down the bag with the left gripper. +- Grasp one corner of the bag with the right gripper. Pull the green zipper with the + left gripper. Place down the bag with the right gripper. +- Grasp one corner of the bag with the right gripper. Pull the red zipper with the + left gripper. Place down the bag with the right gripper. +sub_tasks: +- subtask: Pulling up the zipper on the transparent plastic bag with the left gripper + to close it. + subtask_index: 0 +- subtask: Pulling up the zipper on the transparent plastic bag with the right gripper + to close it. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Pick up the transparent plastic bag with the left gripper. + subtask_index: 4 +- subtask: Pick up the transparent plastic bag with the right gripper. + subtask_index: 5 +- subtask: Place the transparent plastic bag. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pull +- place +robot_name: Agilex_Cobot_Magic +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 495 + total_frames: 234815 + fps: 30 + total_tasks: 8 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 2.74 GB +frame_num: 234815 +frame_range: 1M +dataset_size: 2.74 GB +data_structure: 'Split_aloha_zip_up_the_document_bag_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (483 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:494 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_box_storage_chopsticks.yaml b/dataset_info/Agilex_Split_Aloha_box_storage_chopsticks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b00f28cdd63c24cddd0cbfc381fe5b21c7d5eec5 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_box_storage_chopsticks.yaml @@ -0,0 +1,468 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_box_storage_chopsticks +dataset_uuid: 820026e7-2878-4127-b935-c5e584a825bc +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: tablecloth +- object_name: pallet +- object_name: chopsticks +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the chopsticks from the black tray and place them into the box on the blue + tablecloth. +- Pick up the chopsticks from the black tray and place them into the box with the + gripper. +- Pick up the chopsticks from the black tray and place them into the box with the + gripper. +- Pick up the chopsticks from the black tray and place them into the box with the + gripper. +- Pick up the chopsticks from the black tray and place them into the box with the + gripper. +- Pick up the chopsticks from the black tray and place them into the box with the + gripper. +sub_tasks: +- subtask: use the right arm to place the chopsticks into the lunch box. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: use the left arm to pick up a pair of chopsticks. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Grasp the a pair of chopsticks with the left gripper. + subtask_index: 4 +- subtask: Place the a pair of chopsticks into the box with the left gripper. + subtask_index: 5 +- subtask: use the left arm to place the chopsticks into the lunch box. + subtask_index: 6 +- subtask: use the right arm to pick up a pair of chopsticks. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- place +- pick +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_front_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 499 + total_frames: 170337 + fps: 30 + total_tasks: 9 + total_videos: 1497 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 6.39 GB +frame_num: 170337 +frame_range: 1M +dataset_size: 6.39 GB +data_structure: 'Cobot_Magic_box_storage_chopsticks_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (487 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:498 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_cap_the_pen_a.yaml b/dataset_info/Agilex_Split_Aloha_cap_the_pen_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95c5cdc18ca375ce79eab3f9b143833ef9fc194e --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_cap_the_pen_a.yaml @@ -0,0 +1,478 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_cap_the_pen_a +dataset_uuid: b549e79c-e49e-4cec-a476-b94bdd766f22 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pen +- object_name: pen_cap +- object_name: tablecloth +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the pen cap in one hand and the pen in the other with one hand, then cover + the pen cap with the other hand. +sub_tasks: +- subtask: Secure the pen cap with the right gripper. + subtask_index: 0 +- subtask: Insert the pen into the cap. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: place the cap on the pen. + subtask_index: 3 +- subtask: Pick up the pen cap. + subtask_index: 4 +- subtask: pick up the pen barrel with the left gripper. + subtask_index: 5 +- subtask: Secure the pen cap with the left gripper. + subtask_index: 6 +- subtask: pick up the pen cap with the left gripper. + subtask_index: 7 +- subtask: Place the pen on the table. + subtask_index: 8 +- subtask: Abnormal. + subtask_index: 9 +- subtask: pick up the pen cap with the right gripper. + subtask_index: 10 +- subtask: Insert the pen cap with the right gripper. + subtask_index: 11 +- subtask: pick up the pen barrel with the right gripper. + subtask_index: 12 +- subtask: Pick up the pen. + subtask_index: 13 +- subtask: end. + subtask_index: 14 +- subtask: Place the pen down with the right gripper. + subtask_index: 15 +- subtask: abnormal. + subtask_index: 16 +- subtask: Insert the pen cap with the left gripper. + subtask_index: 17 +- subtask: null. + subtask_index: 18 +atomic_actions: +- grasp +- pick +- place +- insert +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb_rgb +- cam_right_wrist_rgb_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 55 + total_frames: 51317 + fps: 50 + total_tasks: 19 + total_videos: 165 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 1.03 GB +frame_num: 51317 +frame_range: 100K +dataset_size: 1.03 GB +data_structure: 'Cobot_Magic_cap_the_pen_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (43 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb_rgb + + | `-- observation.images.cam_right_wrist_rgb_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:54 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_catch_the_ball.yaml b/dataset_info/Agilex_Split_Aloha_catch_the_ball.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f6d129141334ac71c1d923a973828219a3d0e689 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_catch_the_ball.yaml @@ -0,0 +1,446 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_catch_the_ball +dataset_uuid: 3ea12ae6-b4f3-453d-b56f-bca0e5a346c8 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: ball +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the rolling ball with the gripper descending the slope. +sub_tasks: +- subtask: place the picked-up object on the table. + subtask_index: 0 +- subtask: pick up the rolling spherical object. + subtask_index: 1 +- subtask: pick up the spherical object with your left arm. + subtask_index: 2 +- subtask: Place the sphere on the white object. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 57085 + fps: 50 + total_tasks: 5 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 877.64 MB +frame_num: 57085 +frame_range: 100K +dataset_size: 877.64 MB +data_structure: 'Cobot_Magic_catch_the_ball_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_classification_of_fruits_and_vegetables.yaml b/dataset_info/Agilex_Split_Aloha_classification_of_fruits_and_vegetables.yaml new file mode 100644 index 0000000000000000000000000000000000000000..63286ff8918ed016621dfe525cc81152be9e64b9 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_classification_of_fruits_and_vegetables.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_classification_of_fruits_and_vegetables +dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9209 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: tablecloth +- object_name: white_carrot +- object_name: eggplant +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place white carrots and eggplants alternately on the blue tablecloth, into plates + of different colors with the gripper. +- Place white carrots and eggplants alternately on the brown tablecloth, into plates + of different colors with the gripper. +- Place white carrots and eggplants alternately on the green tablecloth, into plates + of different colors with the gripper. +- Place white carrots and eggplants alternately on the pink tablecloth, into plates + of different colors with the gripper. +sub_tasks: +- subtask: use the left arm to pick up a carrot and place it into the right plate. + subtask_index: 0 +- subtask: use the right arm to pick up a radish and place it into the right plate. + subtask_index: 1 +- subtask: use the left arm to pick up a radish and place it into the right plate. + subtask_index: 2 +- subtask: use the left arm to pick up an eggplant and place it into the left plate. + subtask_index: 3 +- subtask: use the right arm to pick up a chayote and place it into the right plate. + subtask_index: 4 +- subtask: use the left arm to pick up a tomato and place it into the left plate. + subtask_index: 5 +- subtask: use the right arm to pick up a radish and place it into the left plate. + subtask_index: 6 +- subtask: use the left arm to pick up a radish and place it into the left plate. + subtask_index: 7 +- subtask: use the left arm to pick up a chayote and place it into the right plate. + subtask_index: 8 +- subtask: use the left arm to pick up a chayote and place it into the left plate. + subtask_index: 9 +- subtask: use the right arm to pick up an eggplant and place it into the left plate. + subtask_index: 10 +- subtask: use the left arm to pick up an eggplant and place it into the right plate. + subtask_index: 11 +- subtask: use the right arm to pick up a carrot and place it into the right plate. + subtask_index: 12 +- subtask: use the left arm to pick up a carrot and place it into the left plate. + subtask_index: 13 +- subtask: use the right arm to pick up a carrot and place it into the left plate. + subtask_index: 14 +- subtask: use the right arm to pick up a tomato and place it into the left plate. + subtask_index: 15 +- subtask: use the right arm to pick up an eggplant and place it into the right plate. + subtask_index: 16 +- subtask: null. + subtask_index: 17 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_front_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 301 + total_frames: 183132 + fps: 30 + total_tasks: 18 + total_videos: 903 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 9.69 GB +frame_num: 183132 +frame_range: 1M +dataset_size: 9.69 GB +data_structure: 'Cobot_Magic_classification_of_fruits_and_vegetables_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (289 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:300 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_classification_of_fruits_and_vegetables_a.yaml b/dataset_info/Agilex_Split_Aloha_classification_of_fruits_and_vegetables_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7dcc066e75942cb685b9803b9e6f67a3abef5d9f --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_classification_of_fruits_and_vegetables_a.yaml @@ -0,0 +1,474 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_classification_of_fruits_and_vegetables_a +dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9210 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: tablecloth +- object_name: white_carrot +- object_name: eggplant +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place white carrots and eggplants alternately on plates of different colors on the + blue tablecloth. +- Place white carrots and eggplants alternately on the brown tablecloth, into plates + of different colors with the gripper. +- Place white carrots and eggplants alternately on the green tablecloth, into plates + of different colors with the gripper. +sub_tasks: +- subtask: pick up a potato with your right arm and place it on the left plate. + subtask_index: 0 +- subtask: use the right arm to pick up a chayote and place it into the left plate. + subtask_index: 1 +- subtask: use the left arm to pick up a chayote and place it into the right plate. + subtask_index: 2 +- subtask: pick up a potato with your left arm and place it on the left plate. + subtask_index: 3 +- subtask: use the right arm to pick up a chayote and place it into the right plate. + subtask_index: 4 +- subtask: use the left arm to pick up a carrot and place it into the left plate. + subtask_index: 5 +- subtask: use the left arm to pick up a carrot and place it into the right plate. + subtask_index: 6 +- subtask: use the right arm to pick up a carrot and place it into the left plate. + subtask_index: 7 +- subtask: pick up a potato with your right arm and place it on the right plate. + subtask_index: 8 +- subtask: use the left arm to pick up a radish and place it into the right plate. + subtask_index: 9 +- subtask: pick up the chayote with your right arm and place it on the left plate. + subtask_index: 10 +- subtask: use the right arm to pick up a carrot and place it into the right plate. + subtask_index: 11 +- subtask: pick up a potato with your left arm and place it on the right plate. + subtask_index: 12 +- subtask: use the left arm to pick up a chayote and place it into the left plate. + subtask_index: 13 +- subtask: null. + subtask_index: 14 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_front_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 300 + total_frames: 187645 + fps: 30 + total_tasks: 15 + total_videos: 900 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 10.36 GB +frame_num: 187645 +frame_range: 1M +dataset_size: 10.36 GB +data_structure: 'Cobot_Magic_classification_of_fruits_and_vegetables_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (288 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:299 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_classification_of_tableware.yaml b/dataset_info/Agilex_Split_Aloha_classification_of_tableware.yaml new file mode 100644 index 0000000000000000000000000000000000000000..09a42e98c6cd288b8ec664afe964fd5b55e75898 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_classification_of_tableware.yaml @@ -0,0 +1,503 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_classification_of_tableware +dataset_uuid: 62f60030-04d6-4ae4-aab2-d753cbc6ad85 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: tablecloth +- object_name: bowl +- object_name: plate +- object_name: chopsticks +- object_name: spoon +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with + the gripper. +- Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with + the gripper. +- Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with + the gripper. +- Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with + the gripper. +- Place chopsticks, spoon, bowls, and plates into blue, grey, and white boxes with + the gripper. +sub_tasks: +- subtask: use the right arm to pick up the plate. + subtask_index: 0 +- subtask: use the right arm to pick up a chopstick. + subtask_index: 1 +- subtask: use the right arm to place the plate into the large storage box on the + left. + subtask_index: 2 +- subtask: use the right arm to place the noodle bowl into the large storage box on + the left. + subtask_index: 3 +- subtask: use the right arm to place a chopstick into the small storage box on the + right. + subtask_index: 4 +- subtask: use the left arm to place a chopstick into the small storage box on the + right. + subtask_index: 5 +- subtask: use the left arm to pick up the yellow noodle bowl on the left. + subtask_index: 6 +- subtask: use the left arm to pick up a chopstick. + subtask_index: 7 +- subtask: use the left arm to pick up the chopsticks. + subtask_index: 8 +- subtask: use the left arm to place the soup spoon into the small storage box in + the middle. + subtask_index: 9 +- subtask: use the right arm to pick up the soup spoon in the middle. + subtask_index: 10 +- subtask: use the right arm to pick up the chopsticks. + subtask_index: 11 +- subtask: use the right arm to place the plate on the tray. + subtask_index: 12 +- subtask: use the right arm to pick up the yellow noodle bowl. + subtask_index: 13 +- subtask: use the left arm to pick up the soup spoon in the middle. + subtask_index: 14 +- subtask: use the left arm to place the plate into the large storage box on the left. + subtask_index: 15 +- subtask: use the left arm to place the chopsticks into the small storage box on + the right. + subtask_index: 16 +- subtask: use the left arm to pick up the plate. + subtask_index: 17 +- subtask: use the left arm to place the noodle bowl into the large storage box on + the left. + subtask_index: 18 +- subtask: use the right arm to place the soup spoon into the small storage box in + the middle. + subtask_index: 19 +- subtask: use the right arm to place the chopsticks into the small storage box on + the right. + subtask_index: 20 +- subtask: null. + subtask_index: 21 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_front_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 406 + total_frames: 347004 + fps: 30 + total_tasks: 22 + total_videos: 1218 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 13.12 GB +frame_num: 347004 +frame_range: 1M +dataset_size: 13.12 GB +data_structure: 'Cobot_Magic_classification_of_tableware_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (394 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:405 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_clean_blackboard.yaml b/dataset_info/Agilex_Split_Aloha_clean_blackboard.yaml new file mode 100644 index 0000000000000000000000000000000000000000..94888ef0207979680614ac5f33b75ec01c1a6603 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_clean_blackboard.yaml @@ -0,0 +1,497 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_clean_blackboard +dataset_uuid: 8d45e76c-b43b-46c3-b336-dffdcd73de2b +scene_type: + level1: household + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: blackboard +- object_name: blackboard_eraser +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the eraser with the gripper and erase the letter "a" on the blackboard. +- Pick up the eraser with the gripper and erase the letter "B" on the blackboard. +sub_tasks: +- subtask: Place the blackboard eraser with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: pick up the blackboard eraser with the right gripper. + subtask_index: 2 +- subtask: Erase the letter B use the eraser with the right gripper. + subtask_index: 3 +- subtask: Fixed the drawing board with the left gripper. + subtask_index: 4 +- subtask: end. + subtask_index: 5 +- subtask: Erase the letter a use the eraser with the right gripper. + subtask_index: 6 +- subtask: pick up the eraser with your right gripper. + subtask_index: 7 +- subtask: grasp the drawing board steady with your left gripper. + subtask_index: 8 +- subtask: Erase the letter B with your right gripper. + subtask_index: 9 +- subtask: place down the eraser with your right gripper. + subtask_index: 10 +- subtask: Secure the drawing board with your left gripper. + subtask_index: 11 +- subtask: Erase the letter a with your right gripper. + subtask_index: 12 +- subtask: drop the drawing board with the left gripper. + subtask_index: 13 +- subtask: null. + subtask_index: 14 +atomic_actions: +- grasp +- pick +- wipe +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 938 + total_frames: 689349 + fps: 30 + total_tasks: 15 + total_videos: 2814 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 7.98 GB +frame_num: 689349 +frame_range: 1M +dataset_size: 7.98 GB +data_structure: 'Cobot_Magic_clean_blackboard_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (926 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:937 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_clean_up_the_tableware.yaml b/dataset_info/Agilex_Split_Aloha_clean_up_the_tableware.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7e0ec9e779a34109793b25e3176a14c74436b92f --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_clean_up_the_tableware.yaml @@ -0,0 +1,504 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_clean_up_the_tableware +dataset_uuid: ad865471-39ce-4343-92f4-8dcc8ed48830 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bowl +- object_name: tablecloth +- object_name: plate +- object_name: cup +- object_name: spoon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the bowls on the plates with the gripper. Place the cups on the bowls with + the gripper. Place the spoons into the cups with the gripper. +sub_tasks: +- subtask: use the left arm to pick up a blue teacup. + subtask_index: 0 +- subtask: Grasp the bowl with the left gripper. + subtask_index: 1 +- subtask: use the right arm to pick up a blue rice bowl. + subtask_index: 2 +- subtask: Place the bowl on the plate with the left gripper. + subtask_index: 3 +- subtask: use the left arm to place the blue soup spoon into the blue teacup in the + middle. + subtask_index: 4 +- subtask: Grasp the spoon with the left gripper. + subtask_index: 5 +- subtask: Place the spoon on the cup with the left gripper. + subtask_index: 6 +- subtask: use the right arm to place the blue soup spoon on the blue large plate + in the middle. + subtask_index: 7 +- subtask: use the left arm to place the blue teacup into the blue rice bowl in the + middle. + subtask_index: 8 +- subtask: Grasp the cup with the left gripper. + subtask_index: 9 +- subtask: use the right arm to place the blue soup spoon into the blue teacup in + the middle. + subtask_index: 10 +- subtask: use the right arm to place the blue teacup into the blue rice bowl in the + middle. + subtask_index: 11 +- subtask: use the left arm to pick up a blue rice bowl. + subtask_index: 12 +- subtask: use the right arm to pick up a blue teacup. + subtask_index: 13 +- subtask: Place the spoon on the cup with the right gripper. + subtask_index: 14 +- subtask: use the right arm to place the blue rice bowl into the blue large plate + in the middle. + subtask_index: 15 +- subtask: abnormal. + subtask_index: 16 +- subtask: Grasp the cup with the right gripper. + subtask_index: 17 +- subtask: use the right arm to pick up a blue soup spoon. + subtask_index: 18 +- subtask: Grasp the bowl with the right gripper. + subtask_index: 19 +- subtask: Grasp the spoon with the right gripper. + subtask_index: 20 +- subtask: Place the cup on the bowl with the right gripper. + subtask_index: 21 +- subtask: Place the cup on the bowl with the left gripper. + subtask_index: 22 +- subtask: use the left arm to pick up a blue soup spoon. + subtask_index: 23 +- subtask: End. + subtask_index: 24 +- subtask: Place the bowl on the plate with the right gripper. + subtask_index: 25 +- subtask: use the left arm to place the blue rice bowl into the blue large plate + in the middle. + subtask_index: 26 +- subtask: null. + subtask_index: 27 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_front_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 33 + total_frames: 18127 + fps: 30 + total_tasks: 28 + total_videos: 99 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 1.02 GB +frame_num: 18127 +frame_range: 100K +dataset_size: 1.02 GB +data_structure: 'Cobot_Magic_clean_up_the_tableware_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (21 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:32 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_clear_the_desktop.yaml b/dataset_info/Agilex_Split_Aloha_clear_the_desktop.yaml new file mode 100644 index 0000000000000000000000000000000000000000..804814aec1c93d22e611790ef5575b7ff65a0ef4 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_clear_the_desktop.yaml @@ -0,0 +1,455 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_clear_the_desktop +dataset_uuid: 1ef1c2b2-61c3-459c-a45b-332abc0bdb3e +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: rag +- object_name: coffee_stains +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Wipe the coffee stains on the table with a green rag. +- Wipe the coffee stains on the table with a pink rag with the gripper. +- Wipe the coffee stains on the table with a blue rag with the gripper. +sub_tasks: +- subtask: Place the tablecloth. + subtask_index: 0 +- subtask: wipe the stains on the table. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: wipe the stains on the table with the right gripper. + subtask_index: 3 +- subtask: Place the tablecloth with the right gripper. + subtask_index: 4 +- subtask: Pick up the tablecloth. + subtask_index: 5 +- subtask: Pick up the tablecloth with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb_rgb +- cam_right_wrist_rgb_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 293 + total_frames: 157415 + fps: 50 + total_tasks: 8 + total_videos: 879 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 1018.34 MB +frame_num: 157415 +frame_range: 1M +dataset_size: 1018.34 MB +data_structure: 'Cobot_Magic_clear_the_desktop_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (281 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb_rgb + + | `-- observation.images.cam_right_wrist_rgb_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:292 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_close_book.yaml b/dataset_info/Agilex_Split_Aloha_close_book.yaml new file mode 100644 index 0000000000000000000000000000000000000000..388c87d562d7f0de282b0c1d93c909a2b9a75af5 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_close_book.yaml @@ -0,0 +1,450 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_close_book +dataset_uuid: 778d9b66-c492-4978-9a1e-f67a5ba3636c +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: book +- object_name: tablecloth +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the book with one hand and close it with the other on the white tablecloth. +- Grasp the book with one hand and close it with the other on the green tablecloth. +- Grasp the book with one hand and close it with the other on the grey tablecloth. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Close the book. + subtask_index: 2 +- subtask: Close the open book. + subtask_index: 3 +- subtask: abnormal. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- press +- close +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb_rgb +- cam_right_wrist_rgb_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 287 + total_frames: 138451 + fps: 50 + total_tasks: 6 + total_videos: 861 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 2.85 GB +frame_num: 138451 +frame_range: 1M +dataset_size: 2.85 GB +data_structure: 'Cobot_Magic_close_book_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (275 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb_rgb + + | `-- observation.images.cam_right_wrist_rgb_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:286 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_cube_reset.yaml b/dataset_info/Agilex_Split_Aloha_cube_reset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..57ac7c17a3b49756211839a5631a2e996cf92bcf --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_cube_reset.yaml @@ -0,0 +1,475 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_cube_reset +dataset_uuid: 5f4b3baf-119d-489b-b64d-59ea1b989422 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cube_block +- object_name: cube_groove +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cube block with the gripper and place it into the cube groove with the + gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Pick up the cube. + subtask_index: 1 +- subtask: Grasp the cube. + subtask_index: 2 +- subtask: Place cube into the cube recess. + subtask_index: 3 +- subtask: Place cube into the cube-shaped recess. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 28883 + fps: 30 + total_tasks: 6 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 514.51 MB +frame_num: 28883 +frame_range: 100K +dataset_size: 514.51 MB +data_structure: 'Cobot_Magic_cube_reset_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_cut_banana.yaml b/dataset_info/Agilex_Split_Aloha_cut_banana.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7ea722433de83ff1b8f5e6962b643629ff75a1cf --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_cut_banana.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_cut_banana +dataset_uuid: 3637d17f-4a5a-4801-902f-3e5aee09f48b +scene_type: + level1: household + level2: restaurant + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: banana +- object_name: plastic_vegetable_board +- object_name: knife_holder +- object_name: knife +- object_name: fake_banana +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Cut the banana with the gripper. +- Cut the plastic banana with the gripper. +sub_tasks: +- subtask: Cut the banana with your left gripper. + subtask_index: 0 +- subtask: Cut the banana with your right gripper. + subtask_index: 1 +- subtask: grasp the blade with your left gripper. + subtask_index: 2 +- subtask: Discard the waste. + subtask_index: 3 +- subtask: Secure the blade with your left gripper. + subtask_index: 4 +- subtask: Place the knife on the storage rack with your right gripper. + subtask_index: 5 +- subtask: pick up the knife handle with your right gripper. + subtask_index: 6 +- subtask: end. + subtask_index: 7 +- subtask: Lift the knife with your right gripper. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- pick +- cut +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 583 + total_frames: 310367 + fps: 30 + total_tasks: 10 + total_videos: 1749 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 4.24 GB +frame_num: 310367 +frame_range: 1M +dataset_size: 4.24 GB +data_structure: 'Cobot_Magic_cut_banana_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (571 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:582 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_desktop_organization.yaml b/dataset_info/Agilex_Split_Aloha_desktop_organization.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0fa638eeb9f436930e06112a387633ce8be0c33a --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_desktop_organization.yaml @@ -0,0 +1,773 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_desktop_organization +dataset_uuid: 32b7ba5a-b7c4-475c-8bcc-6b60402acd24 +scene_type: + level1: household + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plate +- object_name: banana +- object_name: waste_paper +- object_name: basket +- object_name: eraser +- object_name: knife +- object_name: ruler +- object_name: bread +- object_name: small_pieces_of_paper +- object_name: coffee +- object_name: pencil_sharpener +- object_name: grape +- object_name: plastic_sheet +- object_name: teacup +- object_name: colored_glue +- object_name: scissors +- object_name: mango +- object_name: fruit_tray +- object_name: paper_ball +- object_name: garbage_bin +- object_name: water_bottle +- object_name: pen +- object_name: pen_holder +- object_name: cola +- object_name: milk +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the banana on the plate with the gripper. Place the waste paper into the basket + with the gripper. Place the water bottle upright near the plate with the gripper. + Place the eraser in the pen holder with the gripper. Place the pen in the pen holder + with the gripper. +- Place the pear on the plate with the gripper. Place the waste paper into the basket + with the gripper. Place the water bottle upright near the plate with the gripper. + Place the knife in the pen holder with the gripper. Place the ruler in the penholder + with the gripper. Place the pen in the pen holder with the gripper. +- Place the bread on the plate with the gripper. Place the small pieces of paper into + the basket with the gripper. Place the coffee near the plate with the gripper. Place + the pencil sharpener in the pen holder with the gripper. Place the ruler in the + pen holder with the gripper. Place the pen in the pen holder with the gripper. +- Place the grape on a plate with the gripper. Place the plastic sheet into the basket + with the gripper. Place the teacup neatly near the plate with the gripper. Place + the scissor in the pen holder with the gripper. Place the ruler in the penholder + with the gripper. Place the colored glue in the pen holder with the gripper. +- Place the mango and banana on the fruit tray with the gripper. Place the paper ball + into the garbage bin with the gripper. Straighten the water bottle with the gripper. + Place the eraser and pen in the pen holder with the gripper. +- Pick up the green basket with the gripper, place the cola inside the basket with + the gripper, and then place the basket down with the gripper. +sub_tasks: +- subtask: pass the waste paper. + subtask_index: 0 +- subtask: Place the red pencil sharpener into the pen holder. + subtask_index: 1 +- subtask: place the silver glue into the pen holder. + subtask_index: 2 +- subtask: Place the cola can into the basket with left gripper. + subtask_index: 3 +- subtask: Place the waste paper into the basket with left gripper. + subtask_index: 4 +- subtask: Place the eraser in pen holder with left gripper. + subtask_index: 5 +- subtask: Grasp the waste paper with right gripper. + subtask_index: 6 +- subtask: Place the pear in the plate. + subtask_index: 7 +- subtask: Static. + subtask_index: 8 +- subtask: pass the plastic. + subtask_index: 9 +- subtask: Grasp the bottle with left gripper. + subtask_index: 10 +- subtask: pick up the ruler. + subtask_index: 11 +- subtask: Place the black pen in pen holder with left gripper. + subtask_index: 12 +- subtask: Grasp the banana with left gripper. + subtask_index: 13 +- subtask: Pick up the banana. + subtask_index: 14 +- subtask: pass the banana. + subtask_index: 15 +- subtask: Pick up the pen with right arm. + subtask_index: 16 +- subtask: Place the cola can into the basket with right gripper. + subtask_index: 17 +- subtask: pass the grapes. + subtask_index: 18 +- subtask: Place the basket on the table with right gripper. + subtask_index: 19 +- subtask: Pick up the red pencil sharpener. + subtask_index: 20 +- subtask: Stand the bottle with left gripper. + subtask_index: 21 +- subtask: Pick up the waste paper. + subtask_index: 22 +- subtask: Grasp the blue pen with left gripper. + subtask_index: 23 +- subtask: pick up the yellow knife. + subtask_index: 24 +- subtask: Place the eraser into the pen holder. + subtask_index: 25 +- subtask: Place the black pen in pen holder with right gripper. + subtask_index: 26 +- subtask: Place the gray pen in pen holder with right gripper. + subtask_index: 27 +- subtask: Place the gray pen in pen holder with left gripper. + subtask_index: 28 +- subtask: Place the milk into the basket with right gripper. + subtask_index: 29 +- subtask: pick up the red glue. + subtask_index: 30 +- subtask: pass the yellow glue. + subtask_index: 31 +- subtask: pass the bottle. + subtask_index: 32 +- subtask: Place the plastic into the basket. + subtask_index: 33 +- subtask: Pick up the grapes. + subtask_index: 34 +- subtask: pick up the pink scissors. + subtask_index: 35 +- subtask: pick up the silver glue. + subtask_index: 36 +- subtask: Abnormal. + subtask_index: 37 +- subtask: Place the blue pen in pen holder with right gripper. + subtask_index: 38 +- subtask: Place the blue pen in pen holder with left gripper. + subtask_index: 39 +- subtask: Place the yellow pen in pen holder with right gripper. + subtask_index: 40 +- subtask: Grasp the cola can with right gripper. + subtask_index: 41 +- subtask: Grasp the mango with left gripper. + subtask_index: 42 +- subtask: Grasp the black pen with left gripper. + subtask_index: 43 +- subtask: Grasp the blue pen with right gripper. + subtask_index: 44 +- subtask: abnormal. + subtask_index: 45 +- subtask: Grasp the eraser with right gripper. + subtask_index: 46 +- subtask: Pick up the plastic. + subtask_index: 47 +- subtask: Place the waste paper into the basket with right gripper. + subtask_index: 48 +- subtask: Grasp the cola can with left gripper. + subtask_index: 49 +- subtask: Place the cola can on the table with left gripper. + subtask_index: 50 +- subtask: Pick up the eraser. + subtask_index: 51 +- subtask: Grasp the waste paper with left gripper. + subtask_index: 52 +- subtask: Grasp the yellow pen with right gripper. + subtask_index: 53 +- subtask: Place the pink scissors into the pen holder. + subtask_index: 54 +- subtask: Lift the basket with left gripper. + subtask_index: 55 +- subtask: Pick up the bottle with the right arm. + subtask_index: 56 +- subtask: pass the bread. + subtask_index: 57 +- subtask: Place the grapes in the plate. + subtask_index: 58 +- subtask: transfer the pen to the left arm. + subtask_index: 59 +- subtask: transfer the bottle to the left arm. + subtask_index: 60 +- subtask: pass the red glue. + subtask_index: 61 +- subtask: End. + subtask_index: 62 +- subtask: pass the yellow knife. + subtask_index: 63 +- subtask: pass the ruler. + subtask_index: 64 +- subtask: Place the blue scissors into the pen holder. + subtask_index: 65 +- subtask: Place the yellow pen in pen holder with left gripper. + subtask_index: 66 +- subtask: pass the blue knife. + subtask_index: 67 +- subtask: pick up the red pencil sharpener. + subtask_index: 68 +- subtask: Place the pen into the pen holder. + subtask_index: 69 +- subtask: Pick up the pear. + subtask_index: 70 +- subtask: transfer the pen to the right arm. + subtask_index: 71 +- subtask: Place the blue knife into the pen holder. + subtask_index: 72 +- subtask: Place the mango in the plate with left gripper. + subtask_index: 73 +- subtask: pick up the yellow glue. + subtask_index: 74 +- subtask: pass the pear. + subtask_index: 75 +- subtask: Place the blue pencil sharpener into the pen holder. + subtask_index: 76 +- subtask: Grasp the black pen with right gripper. + subtask_index: 77 +- subtask: pass the pink scissors. + subtask_index: 78 +- subtask: Pick up the bottle with the left arm. + subtask_index: 79 +- subtask: Grasp the gray pen with right gripper. + subtask_index: 80 +- subtask: Grasp the eraser with left gripper. + subtask_index: 81 +- subtask: Place the eraser in pen holder with right gripper. + subtask_index: 82 +- subtask: Grasp the basket with left gripper. + subtask_index: 83 +- subtask: Pick up the pen with left arm. + subtask_index: 84 +- subtask: Pick up the blue pencil sharpener. + subtask_index: 85 +- subtask: pick up the bread. + subtask_index: 86 +- subtask: pass the pen. + subtask_index: 87 +- subtask: Place the milk into the basket with left gripper. + subtask_index: 88 +- subtask: place the red glue into the pen holder. + subtask_index: 89 +- subtask: pick up the blue pencil sharpener. + subtask_index: 90 +- subtask: Place the banana in the plate with left gripper. + subtask_index: 91 +- subtask: Hand the basket to the right gripper with the left gripper. + subtask_index: 92 +- subtask: place the bread in the plate. + subtask_index: 93 +- subtask: Grasp the yellow pen with left gripper. + subtask_index: 94 +- subtask: pass the blue scissors. + subtask_index: 95 +- subtask: place the yellow glue into the pen holder. + subtask_index: 96 +- subtask: place the blue pencil sharpener into the pen holder. + subtask_index: 97 +- subtask: pick up the blue knife. + subtask_index: 98 +- subtask: place the red pencil sharpener into the pen holder. + subtask_index: 99 +- subtask: Place the cola can on the table with right gripper. + subtask_index: 100 +- subtask: Place the bottle. + subtask_index: 101 +- subtask: Grasp the gray pen with left gripper. + subtask_index: 102 +- subtask: Place the ruler into the pen holder. + subtask_index: 103 +- subtask: pick up the blue scissors. + subtask_index: 104 +- subtask: Grasp the milk with right gripper. + subtask_index: 105 +- subtask: Place the banana in the plate. + subtask_index: 106 +- subtask: Grasp the milk with left gripper. + subtask_index: 107 +- subtask: Place the basket on the table with left gripper. + subtask_index: 108 +- subtask: pass the silver glue. + subtask_index: 109 +- subtask: Place the waste paper into the basket. + subtask_index: 110 +- subtask: place the yellow knife into the pen holder. + subtask_index: 111 +- subtask: null. + subtask_index: 112 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 1070 + total_frames: 2026628 + fps: 30 + total_tasks: 113 + total_videos: 3210 + total_chunks: 2 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 32.30 GB +frame_num: 2026628 +frame_range: 10M +dataset_size: 32.30 GB +data_structure: 'Cobot_Magic_desktop_organization_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (276 more entries) + + |-- logs + + | `-- collect + + | `-- collect_20260520135637.log + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | |-- chunk-000 + + | | |-- observation.images.cam_high_rgb + + | | |-- observation.images.cam_left_wrist_rgb + + | | `-- observation.images.cam_right_wrist_rgb + + | `-- chunk-001 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:1069 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_drawer_storage_mineral_water.yaml b/dataset_info/Agilex_Split_Aloha_drawer_storage_mineral_water.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d70780158ee66a259e259c6e94a6fbbd01736641 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_drawer_storage_mineral_water.yaml @@ -0,0 +1,524 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_drawer_storage_mineral_water +dataset_uuid: b3ab23c8-c660-442b-a379-1dad52a7e701 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: mineral_water +- object_name: drawer +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the drawer with the gripper. Place the mineral water bottle inside with the + gripper. Close the drawer with the gripper. +sub_tasks: +- subtask: Open the drawer. + subtask_index: 0 +- subtask: Place the water bottle inside the drawer. + subtask_index: 1 +- subtask: Close the drawer. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +- place +- pull +- push +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 55966 + fps: 50 + total_tasks: 4 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 1.03 GB +frame_num: 55966 +frame_range: 100K +dataset_size: 1.03 GB +data_structure: 'Cobot_Magic_drawer_storage_mineral_water_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- debug + + | |-- episode_0000 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0001 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0002 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0003 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0004 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0005 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0006 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0007 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0008 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0009 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0010 + + | | |-- images + + | | `-- trace_report.md + + | `-- episode_0011 + + | |-- images + + | `-- trace_report.md + + | `-- ... (39 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_fold_the_towel.yaml b/dataset_info/Agilex_Split_Aloha_fold_the_towel.yaml new file mode 100644 index 0000000000000000000000000000000000000000..78c7f3d7ca04aea1f8ce1f3f0e154b11bdf16d69 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_fold_the_towel.yaml @@ -0,0 +1,458 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_fold_the_towel +dataset_uuid: 15a5b235-0337-4484-9e0f-be8def7a8879 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: tablecloth +- object_name: towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Fold the pink towel on the table with the white tablecloth. +- Fold the green towel on the table with the white tablecloth. +- Fold the pink towel on the table with the grey tablecloth. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Fold the towel upwards with the both gripper. + subtask_index: 1 +- subtask: Fold the towel upwards with the right gripper. + subtask_index: 2 +- subtask: wipe the towels. + subtask_index: 3 +- subtask: Fold the towel from right to left with the right gripper. + subtask_index: 4 +- subtask: Fold the towel upwards with the left gripper. + subtask_index: 5 +- subtask: Fold the towel. + subtask_index: 6 +- subtask: abnormal. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- place +- pick +- fold +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb_rgb +- cam_right_wrist_rgb_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 177 + total_frames: 235124 + fps: 50 + total_tasks: 9 + total_videos: 531 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 5.06 GB +frame_num: 235124 +frame_range: 1M +dataset_size: 5.06 GB +data_structure: 'Cobot_Magic_fold_the_towel_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (165 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb_rgb + + | `-- observation.images.cam_right_wrist_rgb_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:176 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_fold_towel_a.yaml b/dataset_info/Agilex_Split_Aloha_fold_towel_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95030d7113e9208c411f3bfc44c345564243f260 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_fold_towel_a.yaml @@ -0,0 +1,443 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_fold_towel_a +dataset_uuid: 2d50475c-06c8-47bd-a56f-c0d235e1835a +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Fold the towel on the table twice with the gripper. +sub_tasks: +- subtask: pick up the towel with two arm. + subtask_index: 0 +- subtask: Fold the towel twice on the table. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +- fold +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb_rgb +- cam_right_wrist_rgb_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 96 + total_frames: 50478 + fps: 50 + total_tasks: 3 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 1.72 GB +frame_num: 50478 +frame_range: 100K +dataset_size: 1.72 GB +data_structure: 'Cobot_Magic_fold_towel_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (84 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb_rgb + + | `-- observation.images.cam_right_wrist_rgb_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:95 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_food_packaging.yaml b/dataset_info/Agilex_Split_Aloha_food_packaging.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ba782b94fc6893bcd85bd25dedfeab01a406e81e --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_food_packaging.yaml @@ -0,0 +1,574 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_food_packaging +dataset_uuid: d6b80e23-6bac-471f-a759-a475112b145d +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: lunch_box +- object_name: banana +- object_name: bread +- object_name: pear +- object_name: cucumber +- object_name: bag +- object_name: lemon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the lunch box, banana, and bread into the big packaging bag with the gripper. +- Place the lunch box, cucumber, and pear into the small packaging bag with the gripper. +sub_tasks: +- subtask: Place the banana into the package. + subtask_index: 0 +- subtask: Right gripper grabs cucumber. + subtask_index: 1 +- subtask: Right gripper moves lunch bag. + subtask_index: 2 +- subtask: Right gripper grabs lunch bag. + subtask_index: 3 +- subtask: Discard. + subtask_index: 4 +- subtask: end. + subtask_index: 5 +- subtask: Right gripper grabs banana. + subtask_index: 6 +- subtask: Grasp the box with the right gripper. + subtask_index: 7 +- subtask: Grasp the package with the left gripper. + subtask_index: 8 +- subtask: Left gripper grabs lunch box. + subtask_index: 9 +- subtask: grasp the package and Pick up the bread. + subtask_index: 10 +- subtask: End. + subtask_index: 11 +- subtask: Left gripper secures lunch bag. + subtask_index: 12 +- subtask: Abnormal. + subtask_index: 13 +- subtask: Place the lemon into the package with the right gripper. + subtask_index: 14 +- subtask: Grasp the banana with the right gripper. + subtask_index: 15 +- subtask: Right gripper grabs lunch box. + subtask_index: 16 +- subtask: Left gripper stands lunch bag upright. + subtask_index: 17 +- subtask: Place the pear into the package with the right gripper. + subtask_index: 18 +- subtask: Place the pear into the package. + subtask_index: 19 +- subtask: Grasp the cucumber with the right gripper. + subtask_index: 20 +- subtask: Place the box into the package. + subtask_index: 21 +- subtask: grasp the package and Pick up the box. + subtask_index: 22 +- subtask: grasp the package and Pick up the cucumber. + subtask_index: 23 +- subtask: Right gripper stands lunch bag upright. + subtask_index: 24 +- subtask: Pick up the banana. + subtask_index: 25 +- subtask: Right gripper grabs lemon. + subtask_index: 26 +- subtask: Place the banana into the package with the right gripper. + subtask_index: 27 +- subtask: Place the bread into the package. + subtask_index: 28 +- subtask: Right gripper places into bag. + subtask_index: 29 +- subtask: Left gripper moves lunch bag. + subtask_index: 30 +- subtask: Grasp the lemon with the right gripper. + subtask_index: 31 +- subtask: Right gripper grabs bread. + subtask_index: 32 +- subtask: Pick up the pear. + subtask_index: 33 +- subtask: zip up the zipper to close the bag. + subtask_index: 34 +- subtask: Pick up the box. + subtask_index: 35 +- subtask: Right gripper grabs pear. + subtask_index: 36 +- subtask: abnormal. + subtask_index: 37 +- subtask: Right gripper pulls zipper. + subtask_index: 38 +- subtask: Pick up the bread. + subtask_index: 39 +- subtask: Grasp the pear with the right gripper. + subtask_index: 40 +- subtask: Pick up the cucumber. + subtask_index: 41 +- subtask: grasp the package and Pick up the pear. + subtask_index: 42 +- subtask: Place the box into the package with the right gripper. + subtask_index: 43 +- subtask: Place the cucumber into the package with the right gripper. + subtask_index: 44 +- subtask: Right gripper receives lunch box. + subtask_index: 45 +- subtask: grasp the package and Pick up the banana. + subtask_index: 46 +- subtask: Left gripper grabs lunch bag. + subtask_index: 47 +- subtask: Left gripper lifts lunch box. + subtask_index: 48 +- subtask: Place the cucumber into the package. + subtask_index: 49 +- subtask: null. + subtask_index: 50 +atomic_actions: +- grasp +- pull +- place +- pick +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 830 + total_frames: 1499538 + fps: 30 + total_tasks: 51 + total_videos: 2490 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 25.84 GB +frame_num: 1499538 +frame_range: 10M +dataset_size: 25.84 GB +data_structure: 'Cobot_Magic_food_packaging_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (818 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:829 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_make_fruit_salad.yaml b/dataset_info/Agilex_Split_Aloha_make_fruit_salad.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a31d8c121ea2e1514d976107697fa62d1bb6da70 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_make_fruit_salad.yaml @@ -0,0 +1,520 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_make_fruit_salad +dataset_uuid: 271b7c53-966b-4ed0-a493-1efc8fd71d86 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: apple +- object_name: banana +- object_name: grape +- object_name: mango +- object_name: lemon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the apple in the black basket with the gripper. +- Place the banana in the black basket with the gripper. +- Place the grape in the black basket with the gripper. +- Place the lemon in the black basket with the gripper. +- Place the mango into the black basket with the gripper. +sub_tasks: +- subtask: Place the banana into the basket with left gripper. + subtask_index: 0 +- subtask: Place the banana into the basket with right gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: Place the apple into the basket with right gripper. + subtask_index: 3 +- subtask: Grasp the grape with right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Grasp the mango with left gripper. + subtask_index: 6 +- subtask: Grasp the lemon with left gripper. + subtask_index: 7 +- subtask: Place the mango into the basket with right gripper. + subtask_index: 8 +- subtask: Grasp the apple with left gripper. + subtask_index: 9 +- subtask: Place the mango on the table with right gripper. + subtask_index: 10 +- subtask: Place the lemon into the basket with right gripper. + subtask_index: 11 +- subtask: Grasp the lemon with right gripper. + subtask_index: 12 +- subtask: Grasp the grape with left gripper. + subtask_index: 13 +- subtask: Place the apple into the basket with left gripper. + subtask_index: 14 +- subtask: Grasp the mango with right gripper. + subtask_index: 15 +- subtask: Place the grape into the basket with left gripper. + subtask_index: 16 +- subtask: Abnormal. + subtask_index: 17 +- subtask: Place the mango into the basket with left gripper. + subtask_index: 18 +- subtask: Grasp the apple with right gripper. + subtask_index: 19 +- subtask: Grasp the banana with left gripper. + subtask_index: 20 +- subtask: Place the lemon into the basket with left gripper. + subtask_index: 21 +- subtask: Grasp the banana with right gripper. + subtask_index: 22 +- subtask: Place the grape into the basket with right gripper. + subtask_index: 23 +- subtask: null. + subtask_index: 24 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 687 + total_frames: 181253 + fps: 30 + total_tasks: 25 + total_videos: 2061 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 3.45 GB +frame_num: 181253 +frame_range: 1M +dataset_size: 3.45 GB +data_structure: 'Cobot_Magic_make_fruit_salad_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (675 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:686 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_make_hamburger.yaml b/dataset_info/Agilex_Split_Aloha_make_hamburger.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ae9f8feec780f5f76c7962329855dd33da6de64a --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_make_hamburger.yaml @@ -0,0 +1,710 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_make_hamburger +dataset_uuid: 50b8b2d7-4195-4264-a972-36006de4241a +scene_type: + level1: catering + level2: restaurant + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cheese +- object_name: lettuce +- object_name: bread +- object_name: plate +- object_name: sliced_bread +- object_name: meat_pie +- object_name: tomato_slices +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Make a hamburger with lettuce with the gripper. +- Make a hamburger with cheese with the gripper. +- Place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate + with the gripper. +- Make a hamburger with cheese and lettuce with the gripper. +sub_tasks: +- subtask: Place the purple cabbage on the cutlet with the left gripper. + subtask_index: 0 +- subtask: Pick up the tomato cut with the left gripper. + subtask_index: 1 +- subtask: Right pick up the patty. + subtask_index: 2 +- subtask: Right place the lettuce leaf on the bread cut. + subtask_index: 3 +- subtask: Right place the patty on the tomato cut. + subtask_index: 4 +- subtask: Place the hamburger lid on the cutlet with the right gripper. + subtask_index: 5 +- subtask: end. + subtask_index: 6 +- subtask: Pick up the bread slices and place them on the tray with the left gripper. + subtask_index: 7 +- subtask: Pick up the purple cabbage with the left gripper. + subtask_index: 8 +- subtask: Left pick up the bottom bread cut. + subtask_index: 9 +- subtask: Place the lettuce leaf on the bread cut with the right gripper. + subtask_index: 10 +- subtask: Pick up the bread cut with the left gripper. + subtask_index: 11 +- subtask: Left pick up the cheese cut. + subtask_index: 12 +- subtask: Discard. + subtask_index: 13 +- subtask: Pick up the cheese cut with the right gripper. + subtask_index: 14 +- subtask: Pick up the tomato cut with the right gripper. + subtask_index: 15 +- subtask: Place the hamburger lid on the cheese cut with the right gripper. + subtask_index: 16 +- subtask: End. + subtask_index: 17 +- subtask: Left place the bottom bread cut on the tray. + subtask_index: 18 +- subtask: Left place the tomato cut on the lettuce leaf. + subtask_index: 19 +- subtask: Abnormal. + subtask_index: 20 +- subtask: Place the purple cabbage on the tomato cut with the left gripper. + subtask_index: 21 +- subtask: Place the tomato cut on the lettuce leaf with the right gripper. + subtask_index: 22 +- subtask: Left pick up the tomato cut. + subtask_index: 23 +- subtask: Pick up the lettuce leaf with the right gripper. + subtask_index: 24 +- subtask: Place the tomato cut on the lettuce leaf with the left gripper. + subtask_index: 25 +- subtask: Place the hamburger lid on the purple cabbage with the right gripper. + subtask_index: 26 +- subtask: Place the tomato cut on the bread cut with the right gripper. + subtask_index: 27 +- subtask: Place the cutlet on the tomato cut with the right gripper. + subtask_index: 28 +- subtask: Place the hamburger lid on the cutlet cut with the left gripper. + subtask_index: 29 +- subtask: Place the cheese cut on the cutlet with the left gripper. + subtask_index: 30 +- subtask: Place the bread cut on the tray with the left gripper. + subtask_index: 31 +- subtask: Place the cutlet on the lettuce leaf with the right gripper. + subtask_index: 32 +- subtask: Left place the cheese cut on the patty. + subtask_index: 33 +- subtask: Place the hamburger lid on the cheese cut with the left gripper. + subtask_index: 34 +- subtask: Pick up the cutlet with the right gripper. + subtask_index: 35 +- subtask: Left place the bread on the tray. + subtask_index: 36 +- subtask: Pick up the hamburger lid with the right gripper. + subtask_index: 37 +- subtask: Place the cheese cut on the cutlet with the right gripper. + subtask_index: 38 +- subtask: Pick up the hamburger lid with the left gripper. + subtask_index: 39 +- subtask: Right pick up the top bread cut. + subtask_index: 40 +- subtask: Pick up the meat patty and place it on top of the tomato with the right + gripper. + subtask_index: 41 +- subtask: abnormal. + subtask_index: 42 +- subtask: Pick up the cheese cut with the left gripper. + subtask_index: 43 +- subtask: Right pick up the lettuce leaf. + subtask_index: 44 +- subtask: Right place the lettuce leaf on the bottom bread. + subtask_index: 45 +- subtask: Left pick up the bottom bread. + subtask_index: 46 +- subtask: Right place the top bread cut on the cheese cut. + subtask_index: 47 +- subtask: Place the tomato cut on the bread cut with the left gripper. + subtask_index: 48 +- subtask: null. + subtask_index: 49 +atomic_actions: +- grasp +- place +- pick +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_high_realsense_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_high_realsense_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 3044 + total_frames: 1591383 + fps: 30 + total_tasks: 50 + total_videos: 12176 + total_chunks: 4 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 4 + dataset_size: 46.71 GB +frame_num: 1591383 +frame_range: 10M +dataset_size: 46.71 GB +data_structure: 'Cobot_Magic_make_hamburger_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | |-- chunk-001 + + | | |-- episode_001000.parquet + + | | |-- episode_001001.parquet + + | | |-- episode_001002.parquet + + | | |-- episode_001003.parquet + + | | |-- episode_001004.parquet + + | | |-- episode_001005.parquet + + | | |-- episode_001006.parquet + + | | |-- episode_001007.parquet + + | | |-- episode_001008.parquet + + | | |-- episode_001009.parquet + + | | |-- episode_001010.parquet + + | | `-- episode_001011.parquet + + | | `-- ... (988 more entries) + + | |-- chunk-002 + + | | |-- episode_002000.parquet + + | | |-- episode_002001.parquet + + | | |-- episode_002002.parquet + + | | |-- episode_002003.parquet + + | | |-- episode_002004.parquet + + | | |-- episode_002005.parquet + + | | |-- episode_002006.parquet + + | | |-- episode_002007.parquet + + | | |-- episode_002008.parquet + + | | |-- episode_002009.parquet + + | | |-- episode_002010.parquet + + | | `-- episode_002011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-003 + + | |-- episode_003000.parquet + + | |-- episode_003001.parquet + + | |-- episode_003002.parquet + + | |-- episode_003003.parquet + + | |-- episode_003004.parquet + + | |-- episode_003005.parquet + + | |-- episode_003006.parquet + + | |-- episode_003007.parquet + + | |-- episode_003008.parquet + + | |-- episode_003009.parquet + + | |-- episode_003010.parquet + + | `-- episode_003011.parquet + + | `-- ... (65 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | |-- chunk-000 + + | | |-- observation.images.cam_high_realsense_rgb + + | | |-- observation.images.cam_high_rgb + + | | |-- observation.images.cam_left_wrist_rgb + + | | `-- observation.images.cam_right_wrist_rgb + + | |-- chunk-001 + + | | |-- observation.images.cam_high_realsense_rgb + + | | |-- observation.images.cam_high_rgb + + | | |-- observation.images.cam_left_wrist_rgb + + | | `-- observation.images.cam_right_wrist_rgb + + | |-- chunk-002 + + | | |-- observation.images.cam_high_realsense_rgb + + | | |-- observation.images.cam_high_rgb + + | | |-- observation.images.cam_left_wrist_rgb + + | | `-- observation.images.cam_right_wrist_rgb + + | `-- chunk-003 + + | |-- observation.images.cam_high_realsense_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:3043 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_realsense_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_realsense_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_mobile_cube.yaml b/dataset_info/Agilex_Split_Aloha_mobile_cube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b46b232ac77ef6fe24702a29494af477c9b94bf7 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_mobile_cube.yaml @@ -0,0 +1,470 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_mobile_cube +dataset_uuid: ec621804-bf42-4f9d-971a-bbe5cb197144 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cube_block +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cube block with the gripper and place it in another position on the + table. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Pick up the small cube. + subtask_index: 1 +- subtask: Place the small cube on the ahead of the table. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 21487 + fps: 30 + total_tasks: 4 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 347.89 MB +frame_num: 21487 +frame_range: 100K +dataset_size: 347.89 MB +data_structure: 'Cobot_Magic_mobile_cube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_mobile_cube_blackboard.yaml b/dataset_info/Agilex_Split_Aloha_mobile_cube_blackboard.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e704a1d108e59ce223d3cac8b62bfa70c85d5b6e --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_mobile_cube_blackboard.yaml @@ -0,0 +1,472 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_mobile_cube_blackboard +dataset_uuid: 679f07f9-efb6-4a77-9347-2423da9981cd +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cube_block +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the multiple cubes in two columns one by one with the gripper and place + them in another position on the table with the gripper. +sub_tasks: +- subtask: Place the block at the correct position to assemble the letter S. + subtask_index: 0 +- subtask: out of view. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Pick up the block on the table. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 191398 + fps: 30 + total_tasks: 5 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 3.43 GB +frame_num: 191398 +frame_range: 1M +dataset_size: 3.43 GB +data_structure: 'Cobot_Magic_mobile_cube_blackboard_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_move_beverage.yaml b/dataset_info/Agilex_Split_Aloha_move_beverage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e88d29084789dcc594a654b5c984870a473f606c --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_move_beverage.yaml @@ -0,0 +1,475 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_move_beverage +dataset_uuid: b6d0e7b1-1a5c-4188-bdca-cab2a7c613ed +scene_type: + level1: retail + level2: null + level3: restaurant + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: green_bottle_beverage +- object_name: red_bottle_beverage +- object_name: black_bottle_beverage +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move one drink among three beverages with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the beverage bottle placed at the back of the desk. + subtask_index: 1 +- subtask: Place the drink at the front of the table. + subtask_index: 2 +- subtask: Pick up the drink. + subtask_index: 3 +- subtask: Place the beverage bottle to the front of the table. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 31813 + fps: 30 + total_tasks: 6 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 636.53 MB +frame_num: 31813 +frame_range: 100K +dataset_size: 636.53 MB +data_structure: 'Cobot_Magic_move_beverage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_move_the_ball.yaml b/dataset_info/Agilex_Split_Aloha_move_the_ball.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2913efffc85a3f5a02464e93d1bdb5e15515f5f5 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_move_the_ball.yaml @@ -0,0 +1,473 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_move_the_ball +dataset_uuid: 371a2f88-8a95-4044-ba5d-4c287fd9b679 +scene_type: + level1: industry + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: ball +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the ball with the gripper and place it on the plate. Pick up the ball from + the plate with the gripper and place it in the center of the table. +sub_tasks: +- subtask: place the picked-up object on the table. + subtask_index: 0 +- subtask: pick up the rolling spherical object. + subtask_index: 1 +- subtask: pick up the spherical object with your left arm. + subtask_index: 2 +- subtask: Place the sphere on the white object. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 58184 + fps: 30 + total_tasks: 5 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 984.34 MB +frame_num: 58184 +frame_range: 100K +dataset_size: 984.34 MB +data_structure: 'Cobot_Magic_move_the_ball_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_move_the_ball_and_the_cube_block.yaml b/dataset_info/Agilex_Split_Aloha_move_the_ball_and_the_cube_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cadac7a031e7efdc67d08ce2bc112c4029a0f213 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_move_the_ball_and_the_cube_block.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_move_the_ball_and_the_cube_block +dataset_uuid: 7bcc81f3-9d87-4dbc-a06b-fb8a69efe0fb +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: ball +- object_name: cube_block +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Remove the small ball from the cube with the gripper, move the cube, and then place + the small ball back on it with the gripper. +sub_tasks: +- subtask: Grasp the sphere on the table. + subtask_index: 0 +- subtask: Place the ball into the sphere recess. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the ball on the table. + subtask_index: 3 +- subtask: Pick up the ball. + subtask_index: 4 +- subtask: Place the sphere recess in the center of the table. + subtask_index: 5 +- subtask: Place the sphere into the sphere-shaped recess. + subtask_index: 6 +- subtask: Pick up the sphere recess. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 23991 + fps: 30 + total_tasks: 9 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 453.03 MB +frame_num: 23991 +frame_range: 100K +dataset_size: 453.03 MB +data_structure: 'Cobot_Magic_move_the_ball_and_the_cube_block_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- logs + + | `-- collect + + | `-- collect_20260522114815.log + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_move_the_ball_interference.yaml b/dataset_info/Agilex_Split_Aloha_move_the_ball_interference.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3b0efa87517e8acd43eb21747ce0de641d71a15c --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_move_the_ball_interference.yaml @@ -0,0 +1,469 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_move_the_ball_interference +dataset_uuid: 45746c8e-f6f6-4670-858c-5a53ac7dbacb +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: ball +- object_name: cube_block +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the ball next to the two cube blocks with the gripper and place them in + another position on the table with the gripper. +sub_tasks: +- subtask: Grasp the spherical object on the right side. + subtask_index: 0 +- subtask: Place the picked object on the left side of the table. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 25598 + fps: 30 + total_tasks: 3 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 440.36 MB +frame_num: 25598 +frame_range: 100K +dataset_size: 440.36 MB +data_structure: 'Cobot_Magic_move_the_ball_interference_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_move_the_bread.yaml b/dataset_info/Agilex_Split_Aloha_move_the_bread.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b851f4713785ed2ffacdf1a51298fe02b7de2f77 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_move_the_bread.yaml @@ -0,0 +1,448 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_move_the_bread +dataset_uuid: 0279dfc1-8833-47b1-b5de-c7b01c3aef4c +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bread +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the red bread with the gripper and place it into the yellow plate. Retrieve + it with the gripper. +sub_tasks: +- subtask: pick up the yellow bread on the yellow plate. + subtask_index: 0 +- subtask: Place the yellow bread on the table. + subtask_index: 1 +- subtask: Place the picked object on the yellow plate. + subtask_index: 2 +- subtask: Grasp the yellow bread on the table. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 57401 + fps: 50 + total_tasks: 5 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 981.43 MB +frame_num: 57401 +frame_range: 100K +dataset_size: 981.43 MB +data_structure: 'Cobot_Magic_move_the_bread_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_move_the_cup.yaml b/dataset_info/Agilex_Split_Aloha_move_the_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0293a8e6f098c96e81a0e0347ae4d2110f4febe7 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_move_the_cup.yaml @@ -0,0 +1,444 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_move_the_cup +dataset_uuid: 503e7d0b-c281-4ea6-98ff-ebe74764c6ad +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: glass_cup +- object_name: towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the transparent glass cup with the gripper and place it within the blue towel + with the gripper. +sub_tasks: +- subtask: Grasp the transparent glass cup. + subtask_index: 0 +- subtask: Place the glass cup on the blue zone. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 28338 + fps: 50 + total_tasks: 3 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 1.12 GB +frame_num: 28338 +frame_range: 100K +dataset_size: 1.12 GB +data_structure: 'Cobot_Magic_move_the_cup_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_move_the_plate.yaml b/dataset_info/Agilex_Split_Aloha_move_the_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e27c36c8e471811ffdc69c05c156d983ccf77472 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_move_the_plate.yaml @@ -0,0 +1,442 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_move_the_plate +dataset_uuid: 8d39690e-e415-4f1c-9e39-2c0a83b6fe12 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the plate that can grasp fruits with the gripper to the right side of the table. +sub_tasks: +- subtask: pick up the container that can grasp fruits. + subtask_index: 0 +- subtask: Move the picked object to the right side of the table. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 25057 + fps: 50 + total_tasks: 3 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 417.98 MB +frame_num: 25057 +frame_range: 100K +dataset_size: 417.98 MB +data_structure: 'Cobot_Magic_move_the_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_move_the_small_ball.yaml b/dataset_info/Agilex_Split_Aloha_move_the_small_ball.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db30cade20a3190b340a63b73616fbbeef27eea3 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_move_the_small_ball.yaml @@ -0,0 +1,442 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_move_the_small_ball +dataset_uuid: d3bee16b-97e7-4e2b-ae25-346189946b81 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: spherical_object +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the spherical object with the gripper and relocate it to the left side. +sub_tasks: +- subtask: Grasp the spherical object on the right side. + subtask_index: 0 +- subtask: Place the picked object on the left side of the table. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 25598 + fps: 50 + total_tasks: 3 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 404.60 MB +frame_num: 25598 +frame_range: 100K +dataset_size: 404.60 MB +data_structure: 'Cobot_Magic_move_the_small_ball_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_movethe_position_of_the_bluetooth.yaml b/dataset_info/Agilex_Split_Aloha_movethe_position_of_the_bluetooth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5ff003f20d25209e3a8c28fefbd0d2bdf7f4cafc --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_movethe_position_of_the_bluetooth.yaml @@ -0,0 +1,449 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_movethe_position_of_the_bluetooth +dataset_uuid: dc390f5c-b242-48d0-86f0-0932b22a8f6a +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bluetooth_earbud +- object_name: bluetooth_earphone_case +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the Bluetooth earbud on the right side of the table with the right gripper. +- Grasp the Bluetooth earphone case with the gripper and place it on the left side + of the table with the gripper. +sub_tasks: +- subtask: Place bluetooth earbud on the right side of the table. + subtask_index: 0 +- subtask: Place bluetooth earphone case on the left side of the table. + subtask_index: 1 +- subtask: Grasp the Bluetooth earphone case. + subtask_index: 2 +- subtask: Grasp the Bluetooth earbud. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 198 + total_frames: 52508 + fps: 50 + total_tasks: 5 + total_videos: 594 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 850.52 MB +frame_num: 52508 +frame_range: 100K +dataset_size: 850.52 MB +data_structure: 'Cobot_Magic_movethe_position_of_the_bluetooth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (186 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:197 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_open_the_shoebox.yaml b/dataset_info/Agilex_Split_Aloha_open_the_shoebox.yaml new file mode 100644 index 0000000000000000000000000000000000000000..84e0bde5e0b349f5462d94c1e401324e093f1eb6 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_open_the_shoebox.yaml @@ -0,0 +1,441 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_open_the_shoebox +dataset_uuid: 1708df8d-97e4-42b0-a8ee-de1bb93b4d77 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: tablecloth +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the shoebox on the table with the gripper. +- Open the shoebox on the white tablecloth with the gripper. +- Open the shoebox on the cyan tablecloth with the gripper. +sub_tasks: +- subtask: Open the shoe box. + subtask_index: 0 +- subtask: null. + subtask_index: 1 +atomic_actions: +- grasp +- pull +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 299 + total_frames: 185740 + fps: 50 + total_tasks: 2 + total_videos: 897 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 2.83 GB +frame_num: 185740 +frame_range: 1M +dataset_size: 2.83 GB +data_structure: 'Cobot_Magic_open_the_shoebox_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (287 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:298 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_place_square_pyramid.yaml b/dataset_info/Agilex_Split_Aloha_place_square_pyramid.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbeb2df5bef6dfe6492c56ac6f6d57a6cee8279a --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_place_square_pyramid.yaml @@ -0,0 +1,473 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_place_square_pyramid +dataset_uuid: 53a89b6b-14be-4a0e-8495-f3310b2ba5bd +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cube_block +- object_name: square_pyramid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the square pyramid from the table with the gripper and place it on the cube + block with the gripper. +sub_tasks: +- subtask: Place the block onto the cube-shaped block. + subtask_index: 0 +- subtask: Place the triangular block onto the cube block. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the triangular block. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 25851 + fps: 30 + total_tasks: 5 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 521.23 MB +frame_num: 25851 +frame_range: 100K +dataset_size: 521.23 MB +data_structure: 'Cobot_Magic_place_square_pyramid_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_place_the_cube_block.yaml b/dataset_info/Agilex_Split_Aloha_place_the_cube_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2ad9e32cb92cbabcfefaef37e8d6a5e50adadfd3 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_place_the_cube_block.yaml @@ -0,0 +1,545 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_place_the_cube_block +dataset_uuid: 8f5ebbc9-2983-4035-a6cd-395dcace072d +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cube_block +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cube block from the table with the gripper and place it on the plate + with the gripper. +sub_tasks: +- subtask: Place it into the yellow plate. + subtask_index: 0 +- subtask: Grasp the small cube on the table. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 58 + total_frames: 12763 + fps: 30 + total_tasks: 3 + total_videos: 174 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 288.15 MB +frame_num: 12763 +frame_range: 100K +dataset_size: 288.15 MB +data_structure: 'Cobot_Magic_place_the_cube_block_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (46 more entries) + + |-- debug + + | |-- episode_0000 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0001 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0002 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0003 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0004 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0005 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0006 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0007 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0008 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0009 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0010 + + | | |-- images + + | | `-- trace_report.md + + | `-- episode_0011 + + | |-- images + + | `-- trace_report.md + + | `-- ... (39 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:57 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_place_the_test_tube.yaml b/dataset_info/Agilex_Split_Aloha_place_the_test_tube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1f96c081efc84812893b8e40b9b5f5624cf684a6 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_place_the_test_tube.yaml @@ -0,0 +1,478 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_place_the_test_tube +dataset_uuid: 070ad40e-7f20-4d3e-82d6-9cb8c0fb1f74 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: test_tube +- object_name: test_tube_rack +- object_name: tablecloth +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the test tube with the left gripper, hand it to the right gripper, and then + place it on the test tube rack with the right gripper. +- Pick up the test tube with your left gripper, hand it to your right gripper, and + then place it on the test tube rack with the right gripper. +- Pick up the test tube with your left gripper, hand it to your right gripper, and + then place it on the test tube rack with the right gripper. +- Pick up the test tube with the left gripper, hand it to the right gripper, and then + place it on the test tube rack with the right gripper. +- Pick up the test tube with your right gripper, hand it to your left gripper, and + then place it on the test tube rack with the left gripper. +- Pick up the test tube with your right gripper, hand it to your left gripper, and + then place it on the test tube rack with the left gripper. +sub_tasks: +- subtask: Place the test tubes on the test tube rack with the right gripper. + subtask_index: 0 +- subtask: Lift the test tube with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Pass the test tube from the left gripper to the right gripper. + subtask_index: 3 +- subtask: Pick up the test tubes from the table. + subtask_index: 4 +- subtask: end. + subtask_index: 5 +- subtask: Place the test tubes on the rack. + subtask_index: 6 +- subtask: pass the test tubes. + subtask_index: 7 +- subtask: pick up the test tube with the left gripper. + subtask_index: 8 +- subtask: Receive the test tube with the right gripper. + subtask_index: 9 +- subtask: Pick up the test tube with the left gripper. + subtask_index: 10 +- subtask: Insert it into the hole at the intersection of the 5th row from the top + and the 5th column from the left with the right gripper. + subtask_index: 11 +- subtask: abnormal. + subtask_index: 12 +- subtask: null. + subtask_index: 13 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb_rgb +- cam_right_wrist_rgb_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 364 + total_frames: 308346 + fps: 50 + total_tasks: 14 + total_videos: 1092 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 6.01 GB +frame_num: 308346 +frame_range: 1M +dataset_size: 6.01 GB +data_structure: 'Cobot_Magic_place_the_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (352 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb_rgb + + | `-- observation.images.cam_right_wrist_rgb_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:363 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_plate_storage_apple.yaml b/dataset_info/Agilex_Split_Aloha_plate_storage_apple.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c561d9a7ccf370aa98c6c99f760eb86ead9a59f1 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_plate_storage_apple.yaml @@ -0,0 +1,443 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_plate_storage_apple +dataset_uuid: 4c90a2cc-aea8-4468-a7c2-b0afeae50a98 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: apple +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the apple with the gripper and place it into the yellow plate. +sub_tasks: +- subtask: Grasp the fruit that can keep the doctor away. + subtask_index: 0 +- subtask: Place the picked object into the yellow plate. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb_rgb +- cam_right_wrist_rgb_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 103 + total_frames: 30676 + fps: 50 + total_tasks: 3 + total_videos: 309 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 605.50 MB +frame_num: 30676 +frame_range: 100K +dataset_size: 605.50 MB +data_structure: 'Cobot_Magic_plate_storage_apple_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (91 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb_rgb + + | `-- observation.images.cam_right_wrist_rgb_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:102 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_plate_storage_bread.yaml b/dataset_info/Agilex_Split_Aloha_plate_storage_bread.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3e3ace6dd31a7296ace36f11fc0d9bafaddb049 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_plate_storage_bread.yaml @@ -0,0 +1,443 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_plate_storage_bread +dataset_uuid: f4001f44-f88b-4812-a364-a7f937d58496 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bread +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the red bread with the gripper and place it into the yellow plate. +sub_tasks: +- subtask: Grasp the yellow bread. + subtask_index: 0 +- subtask: Place the bread into the yellow plate. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 27875 + fps: 50 + total_tasks: 3 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 515.02 MB +frame_num: 27875 +frame_range: 100K +dataset_size: 515.02 MB +data_structure: 'Cobot_Magic_plate_storage_bread_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_plate_storaje_baozi.yaml b/dataset_info/Agilex_Split_Aloha_plate_storaje_baozi.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c4e0d28aa4c3f702fb3bd39fa4ec47b6b7f6470e --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_plate_storaje_baozi.yaml @@ -0,0 +1,479 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_plate_storaje_baozi +dataset_uuid: 749fc774-003a-487c-948b-b6fc7ad307e1 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: tablecloth +- object_name: baozi +- object_name: steamer +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the steamed buns into the plate on the blue tablecloth with the gripper. +- Place the steamed buns into the plate on the green tablecloth with the gripper. +- Place the steamed buns into the plate on the grey tablecloth with the gripper. +- Place the steamed buns into the plate on the pink tablecloth with the gripper. +- Place the steamed buns into the plate on the white tablecloth with the gripper. +- Place the steamed buns into the plate on the white-black tablecloth with the gripper. +sub_tasks: +- subtask: Grasp the baozi on the steamer with left gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Place the yellow baozi on the plate with left gripper. + subtask_index: 2 +- subtask: Place the yellow baozi on the plate with right gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Grasp the dumpling with left gripper. + subtask_index: 5 +- subtask: use the left arm to pick up the steamed stuffed bun that is closest to + it. + subtask_index: 6 +- subtask: use the right arm to pick up the steamed stuffed bun that is closest to + it. + subtask_index: 7 +- subtask: use the right arm to place the steamed stuffed bun into the plate. + subtask_index: 8 +- subtask: Place the baozi on the plate with left gripper. + subtask_index: 9 +- subtask: Grasp the yellow baozi on the steamer with left gripper. + subtask_index: 10 +- subtask: use the left arm to place the steamed stuffed bun into the plate. + subtask_index: 11 +- subtask: Place the dumpling on the steamer with right gripper. + subtask_index: 12 +- subtask: Grasp the dumpling with right gripper. + subtask_index: 13 +- subtask: Grasp the yellow baozi on the steamer with right gripper. + subtask_index: 14 +- subtask: Place the dumpling on the steamer with left gripper. + subtask_index: 15 +- subtask: null. + subtask_index: 16 +atomic_actions: +- grasp +- place +- pick +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_front_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 495 + total_frames: 261093 + fps: 30 + total_tasks: 17 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 12.30 GB +frame_num: 261093 +frame_range: 1M +dataset_size: 12.30 GB +data_structure: 'Cobot_Magic_plate_storaje_baozi_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (483 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:494 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_pot_storage_steamer.yaml b/dataset_info/Agilex_Split_Aloha_pot_storage_steamer.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54fff581514a83ab639b09564857bb63b2c7e5 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_pot_storage_steamer.yaml @@ -0,0 +1,470 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_pot_storage_steamer +dataset_uuid: 0416c89e-0f94-4be0-858c-9a8f3a1ed758 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: steamer +- object_name: tablecloth +- object_name: pot +- object_name: lid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the steamer into the pot with the gripper. Place the lid on the steamer with + the gripper. +- Place the steamer into the pot with the gripper. Place the lid on the steamer with + the gripper. +- Place the steamer into the pot with the gripper. Place the lid on the steamer with + the gripper. +- Place the steamer into the pot with the gripper. Place the lid on the steamer with + the gripper. +- Place the steamer into the pot with the gripper. Place the lid on the steamer with + the gripper. +- Place the steamer into the pot with the gripper. Place the lid on the steamer with + the gripper. +sub_tasks: +- subtask: use the left arm to place the steamer lid on the steamer. + subtask_index: 0 +- subtask: use the right arm to lift the steamer closest to it. + subtask_index: 1 +- subtask: use the left arm to place the steamer into the iron steamer pot in the + middle. + subtask_index: 2 +- subtask: use the right arm to lift the lid of the steamer. + subtask_index: 3 +- subtask: use the right arm to place the steamer lid on the steamer. + subtask_index: 4 +- subtask: use the left arm to lift the lid of the steamer. + subtask_index: 5 +- subtask: use the right arm to place the steamer into the iron steamer pot in the + middle. + subtask_index: 6 +- subtask: use the left arm to lift the steamer closest to it. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_front_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 590 + total_frames: 478978 + fps: 30 + total_tasks: 9 + total_videos: 1770 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 19.67 GB +frame_num: 478978 +frame_range: 1M +dataset_size: 19.67 GB +data_structure: 'Cobot_Magic_pot_storage_steamer_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (578 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:589 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_pour_drink.yaml b/dataset_info/Agilex_Split_Aloha_pour_drink.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbfe03b1cdcaff8744f91476bf8d48b5513ce887 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_pour_drink.yaml @@ -0,0 +1,683 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_pour_drink +dataset_uuid: 9b6b4d09-0c15-4d1f-b8f9-12be94c871cd +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: NFC_orange_juice +- object_name: red_wine +- object_name: sprite +- object_name: black_mug +- object_name: paper_cup +- object_name: transparent_cup +- object_name: tablecloth +- object_name: cestbon +- object_name: coffee +- object_name: cola +- object_name: milk +- object_name: cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Fill the black mug completely with NFC orange juice with the gripper. +- Pour half of the NFC orange juice into the black mug with the gripper. +- Pour three quarters of the NFC orange juice into the black mug with the gripper. +- Pour a quarter of the NFC orange juice into the black mug with the gripper. +- Fill the paper cup completely with NFC orange juice with the gripper. +- Pour half of the NFC orange juice into the paper cup with the gripper. +- Pour three quarters of the NFC orange juice into the paper cup with the gripper. +- Pour a quarter of the NFC orange juice into the paper cup with the gripper. +- Fill the transparent cup completely with NFC orange juice with the gripper. +- Pour half of the NFC orange juice into the transparent cup with the gripper. +- Pour three quarters of the NFC orange juice into the transparent cup with the gripper. +- Pour a quarter of the NFC orange juice into the transparent cup with the gripper. +- Fill the black mug completely with red wine with the gripper. +- Pour half of the red wine into the black mug with the gripper. +- Pour three quarters of the red wine into the black mug with the gripper. +- Pour a quarter of the red wine into the black mug with the gripper. +- Fill the paper cup completely with red wine with the gripper. +- Pour half of the red wine into the paper cup with the gripper. +- Pour three quarters of the red wine into the paper cup with the gripper. +- Pour a quarter of the red wine into the paper cup with the gripper. +- Fill the transparent cup completely with red wine with the gripper. +- Pour half of the red wine into the transparent cup with the gripper. +- Pour three quarters of the red wine into the transparent cup with the gripper. +- Pour a quarter of the red wine into the transparent cup with the gripper. +- Fill the black mug completely with Sprite with the gripper. +- Pour half of the sprite into the black mug with the gripper. +- Pour three quarters of the sprite into the black mug with the gripper. +- Pour a quarter of the sprite into the black mug with the gripper. +- Fill the paper cup completely with Sprite with the gripper. +- Pour half of the sprite into the paper cup with the gripper. +- Pour three quarters of the sprite into the paper cup with the gripper. +- Pour a quarter of the sprite into the paper cup with the gripper. +- Fill the transparent cup completely with sprite with the gripper. +- Pour half of the sprite into the transparent cup with the gripper. +- Pour three quarters of the sprite into the transparent cup with the gripper. +- Pour a quarter of the sprite into the transparent cup with the gripper. +- Pour the cestbon into the black cup with the gripper. +- Pour the cestbon into the gray cup with the gripper. +- Pour the cestbon into the red cup with the gripper. +- Pour the cestbon into the white cup with the gripper. +- Pour the cestbon into the yellow cup with the gripper. +- Pour the coffee into the black cup with the gripper. +- Pour the coffee into the gray cup with the gripper. +- Pour the coffee into the red cup with the gripper. +- Pour the coffee into the white cup with the gripper. +- Pour the coffee into the yellow cup with the gripper. +- Pour the cola into the black cup with the gripper. +- Pour the cola into the gray cup with the gripper. +- Pour the cola into the red cup with the gripper. +- Pour the cola into the white cup with the gripper. +- Pour the cola into the yellow cup with the gripper. +- Pour the milk into the black cup with the gripper. +- Pour the milk into the gray cup with the gripper. +- Pour the milk into the red cup with the gripper. +- Pour the milk into the white cup with the gripper. +- Pour the milk into the yellow cup with the gripper. +- Pour the sprite into the black cup with the gripper. +- Pour the sprite into the gray cup with the gripper. +- Pour the sprite into the red cup with the gripper. +- Pour the sprite into the white cup with the gripper. +- Pour the sprite into the yellow cup with the gripper. +sub_tasks: +- subtask: Grasp the black cup with left gripper. + subtask_index: 0 +- subtask: Grasp the white cup with right gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: Place the orange juice bottle on the table with left gripper. + subtask_index: 3 +- subtask: Lift the black cup with left gripper. + subtask_index: 4 +- subtask: Place the water bottle on the table with right gripper. + subtask_index: 5 +- subtask: Place the grey cup on the table with left gripper. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: Place the sprite bottle on the table with right gripper. + subtask_index: 8 +- subtask: Lift the red cup with left gripper. + subtask_index: 9 +- subtask: Place the cola bottle on the table with left gripper. + subtask_index: 10 +- subtask: Grasp the bottle with cola with right gripper. + subtask_index: 11 +- subtask: Grasp the bottle with sprite with left gripper. + subtask_index: 12 +- subtask: Pour the water from bottle to cup with right gripper. + subtask_index: 13 +- subtask: Place the coffee bottle on the table with right gripper. + subtask_index: 14 +- subtask: Grasp the bottle with orange juice with left gripper. + subtask_index: 15 +- subtask: Pour the red wine from bottle to cup with left gripper. + subtask_index: 16 +- subtask: Place the black cup in the center of view with right gripper. + subtask_index: 17 +- subtask: Place the transparent cup on the table with right gripper. + subtask_index: 18 +- subtask: Place the white cup on the table with right gripper. + subtask_index: 19 +- subtask: Grasp the bottle filled water with right gripper. + subtask_index: 20 +- subtask: Grasp the bottle with coffee with right gripper. + subtask_index: 21 +- subtask: Place the yellow paper cup on the table with left gripper. + subtask_index: 22 +- subtask: Pour the yuexian Milk from bottle to cup with right gripper. + subtask_index: 23 +- subtask: Grasp the bottle with red wine with left gripper. + subtask_index: 24 +- subtask: Grasp the black cup with right gripper. + subtask_index: 25 +- subtask: Place the white cup on the table with left gripper. + subtask_index: 26 +- subtask: Grasp the yellow paper cup with right gripper. + subtask_index: 27 +- subtask: Grasp the yellow paper cup with left gripper. + subtask_index: 28 +- subtask: Pour the orange juice from bottle to cup with left gripper. + subtask_index: 29 +- subtask: Grasp the bottle with water with right gripper. + subtask_index: 30 +- subtask: Pour the yogurt from bottle to cup with left gripper. + subtask_index: 31 +- subtask: Grasp the bottle with yuexian Milk with right gripper. + subtask_index: 32 +- subtask: Place the yellow paper cup on the table with right gripper. + subtask_index: 33 +- subtask: Pour the cola from bottle to cup with right gripper. + subtask_index: 34 +- subtask: Abnormal. + subtask_index: 35 +- subtask: Grasp the white cup with left gripper. + subtask_index: 36 +- subtask: Pour the sprite from bottle to cup with left gripper. + subtask_index: 37 +- subtask: Lift the grey cup with left gripper. + subtask_index: 38 +- subtask: Place the black cup on the table with left gripper. + subtask_index: 39 +- subtask: Grasp the red cup with left gripper. + subtask_index: 40 +- subtask: Place the red cup on the table with left gripper. + subtask_index: 41 +- subtask: Lift the yellow paper cup with right gripper. + subtask_index: 42 +- subtask: Grasp the grey cup with left gripper. + subtask_index: 43 +- subtask: Place the yuexian Milk bottle on the table with right gripper. + subtask_index: 44 +- subtask: Lift the yellow paper cup with left gripper. + subtask_index: 45 +- subtask: Place the sprite bottle on the table with left gripper. + subtask_index: 46 +- subtask: Lift the white cup with left gripper. + subtask_index: 47 +- subtask: Place the cola bottle on the table with right gripper. + subtask_index: 48 +- subtask: Pour the sprite from bottle to cup with right gripper. + subtask_index: 49 +- subtask: Place the red wine bottle on the table with left gripper. + subtask_index: 50 +- subtask: Lift the white cup with right gripper. + subtask_index: 51 +- subtask: Grasp the transparent cup with right gripper. + subtask_index: 52 +- subtask: Grasp the bottle with sprite with right gripper. + subtask_index: 53 +- subtask: Pour the coffee from bottle to cup with right gripper. + subtask_index: 54 +- subtask: Lift the grey cup with right gripper. + subtask_index: 55 +- subtask: null. + subtask_index: 56 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 1613 + total_frames: 862292 + fps: 30 + total_tasks: 57 + total_videos: 4839 + total_chunks: 2 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 12.56 GB +frame_num: 862292 +frame_range: 1M +dataset_size: 12.56 GB +data_structure: 'Cobot_Magic_pour_drink_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (601 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | |-- chunk-000 + + | | |-- observation.images.cam_high_rgb + + | | |-- observation.images.cam_left_wrist_rgb + + | | `-- observation.images.cam_right_wrist_rgb + + | `-- chunk-001 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:1612 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_pour_water_a.yaml b/dataset_info/Agilex_Split_Aloha_pour_water_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b866b7b1901bd82bf64839296207917a4ca6cd55 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_pour_water_a.yaml @@ -0,0 +1,585 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_pour_water_a +dataset_uuid: 1cf008f5-6677-4b28-8eae-d7a325544806 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: nongfu_spring_mineral_water +- object_name: yibao_mineral_water +- object_name: baisui_mountain_mineral_water +- object_name: wahaha_mineral_water +- object_name: cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the paper cup with the left gripper and the Yibao mineral water with the + right gripper. After holding both items by their ends, pour water into one of them, + then place down the paper cup and the Yibao mineral water with the left gripper + and the right gripper. +- Pick up the paper cup with the left gripper and the Nongfu Spring Water bottle with + the right gripper. After grasping both items by their ends, pour the water into + one of them, then place down the paper cup and the Nongfu Spring Water bottle with + the left and right grippers. +- Pick up the blue paper cup with the left gripper, pick up the wahaha mineral water + bottle with the right gripper, pour an appropriate amount of water from the right + gripper into the left gripper paper cup, place down the blue paper cup with the + left gripper, and place down the wahaha mineral water bottle with the right gripper. +- Pick up the blue paper cup with the left gripper, then pick up the Bai Suishan mineral + water bottle with the right gripper. Pour an appropriate amount of water from the + right gripper into the paper cup in the left gripper. First, place down the blue + paper cup with the left gripper, then place down the Bai Suishan mineral water bottle + with the right gripper. +- Pick up the yellow paper cup with the left gripper, pick up the Bai Suishan mineral + water bottle with the right gripper, pour an appropriate amount of water from the + right gripper into the left gripper's cup, first place down the yellow paper cup + with the left gripper, and then place down the Bai Suishan mineral water bottle + with the right gripper. +- Pick up the yellow paper cup with the left gripper, and with the right gripper, + pick up the wahaha mineral water bottle. Pour an appropriate amount of water from + the right gripper into the paper cup in the left gripper. Place down the yellow + paper cup with the left gripper, and finally place down the wahaha mineral water + bottle with the right gripper. +- Pick up the paper cup with the left gripper and the Yibao mineral water with the + right gripper. Pour the water into the paper cup with the right gripper. Then place + them back on the table with the left and right grippers. +- Pick up the paper cup with the left gripper and the bottle of Nongfu Spring mineral + water with the right gripper, pour the water into the paper cup, and then place + them back on the table after completing. +sub_tasks: +- subtask: pick up the paper cup on the right. + subtask_index: 0 +- subtask: Lift the paper cup on the right. + subtask_index: 1 +- subtask: Pick up the bottle. + subtask_index: 2 +- subtask: pick up the bottle with right gripper. + subtask_index: 3 +- subtask: pick up the water bottle on the right. + subtask_index: 4 +- subtask: Pour water from bottle to cup with the right gripper. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: Place the paper cup with the left gripper. + subtask_index: 7 +- subtask: Lift the paper cup on the left. + subtask_index: 8 +- subtask: Place the bottle. + subtask_index: 9 +- subtask: place the cup down with left gripper. + subtask_index: 10 +- subtask: Grasp the cup with left gripper. + subtask_index: 11 +- subtask: Grasp the bottle with the left gripper. + subtask_index: 12 +- subtask: Pour water from bottle to cup with the left gripper. + subtask_index: 13 +- subtask: pick up the water with left gripper. + subtask_index: 14 +- subtask: End. + subtask_index: 15 +- subtask: Receive water on the left. + subtask_index: 16 +- subtask: Pick up the cup. + subtask_index: 17 +- subtask: Discard. + subtask_index: 18 +- subtask: Collect water on the right. + subtask_index: 19 +- subtask: Pour the water with right gripper. + subtask_index: 20 +- subtask: Pour water from bottle to cup. + subtask_index: 21 +- subtask: pick up the water bottle on the left. + subtask_index: 22 +- subtask: place the bottle down with right gripper. + subtask_index: 23 +- subtask: Place the water bottle on the right. + subtask_index: 24 +- subtask: Pour water on the left. + subtask_index: 25 +- subtask: pick up the paper cup on the left. + subtask_index: 26 +- subtask: Place the bottle with the left gripper. + subtask_index: 27 +- subtask: Place the paper cup with the right gripper. + subtask_index: 28 +- subtask: Place the bottle with the right gripper. + subtask_index: 29 +- subtask: Place the paper cup on the right. + subtask_index: 30 +- subtask: abnormal. + subtask_index: 31 +- subtask: Receive water on the right. + subtask_index: 32 +- subtask: Lift the cup with left gripper. + subtask_index: 33 +- subtask: Grasp the paper cup with the right gripper. + subtask_index: 34 +- subtask: Grasp the bottle with the right gripper. + subtask_index: 35 +- subtask: Grasp the paper cup with the left gripper. + subtask_index: 36 +- subtask: end. + subtask_index: 37 +- subtask: Pour water on the right. + subtask_index: 38 +- subtask: Collect water on the left. + subtask_index: 39 +- subtask: Place the cup. + subtask_index: 40 +- subtask: Place the paper cup on the left. + subtask_index: 41 +- subtask: Place the water bottle on the left. + subtask_index: 42 +- subtask: null. + subtask_index: 43 +atomic_actions: +- grasp +- place +- pick +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 896 + total_frames: 1302424 + fps: 30 + total_tasks: 44 + total_videos: 2688 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 13.81 GB +frame_num: 1302424 +frame_range: 10M +dataset_size: 13.81 GB +data_structure: 'Cobot_Magic_pour_water_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (884 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:895 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_pour_water_bottle.yaml b/dataset_info/Agilex_Split_Aloha_pour_water_bottle.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9547bc152b7dc06e4b7976727271425d589b2c8b --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_pour_water_bottle.yaml @@ -0,0 +1,483 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_pour_water_bottle +dataset_uuid: e375b064-04ad-4cb8-a8d4-d0994c11fa75 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bottle +- object_name: cup +- object_name: water +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the water bottle with the gripper and pour the water into it with the gripper + into the glass. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the mineral water bottle. + subtask_index: 1 +- subtask: Pour water into the cup. + subtask_index: 2 +- subtask: Anomaly. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Pour water into the teacup. + subtask_index: 5 +- subtask: Place the water bottle. + subtask_index: 6 +- subtask: Pick up the water bottle. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- pick +- pour +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 92 + total_frames: 43905 + fps: 30 + total_tasks: 9 + total_videos: 276 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 1.05 GB +frame_num: 43905 +frame_range: 100K +dataset_size: 1.05 GB +data_structure: 'Cobot_Magic_pour_water_bottle_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (80 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:91 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_prepare_breakfast.yaml b/dataset_info/Agilex_Split_Aloha_prepare_breakfast.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5a1affd2905e84e51bb99941e319c6066278e624 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_prepare_breakfast.yaml @@ -0,0 +1,520 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_prepare_breakfast +dataset_uuid: b0a0f198-8f0e-4e6b-8c4c-373f4605d642 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plate +- object_name: bread +- object_name: apple +- object_name: egg +- object_name: milk +- object_name: cola +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- put the apple, egg and bread on the plate and place the cola and milk on both sides + of the plate. +sub_tasks: +- subtask: Place the apple on the plate with left gripper. + subtask_index: 0 +- subtask: Place the round bread on the plate with left gripper. + subtask_index: 1 +- subtask: Grasp the egg with left gripper. + subtask_index: 2 +- subtask: Place the egg on the plate with left gripper. + subtask_index: 3 +- subtask: Place the cola on the table with right gripper. + subtask_index: 4 +- subtask: Grasp the apple with left gripper. + subtask_index: 5 +- subtask: Grasp the round bread with right gripper. + subtask_index: 6 +- subtask: Grasp the milk with left gripper. + subtask_index: 7 +- subtask: Place the milk on the table with right gripper. + subtask_index: 8 +- subtask: Place the apple on the plate with right gripper. + subtask_index: 9 +- subtask: Place the milk on the table with left gripper. + subtask_index: 10 +- subtask: Place the cola on the plate with right gripper. + subtask_index: 11 +- subtask: Grasp the cola with right gripper. + subtask_index: 12 +- subtask: Grasp the egg with right gripper. + subtask_index: 13 +- subtask: Grasp the cola with left gripper. + subtask_index: 14 +- subtask: Place the apple on the table with left gripper. + subtask_index: 15 +- subtask: Grasp the milk with right gripper. + subtask_index: 16 +- subtask: Place the cola on the table with left gripper. + subtask_index: 17 +- subtask: Static. + subtask_index: 18 +- subtask: End. + subtask_index: 19 +- subtask: Place the round bread on the plate with right gripper. + subtask_index: 20 +- subtask: Grasp the round bread with left gripper. + subtask_index: 21 +- subtask: Place the egg on the plate with right gripper. + subtask_index: 22 +- subtask: Abnormal. + subtask_index: 23 +- subtask: Grasp the apple with right gripper. + subtask_index: 24 +- subtask: null. + subtask_index: 25 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 565 + total_frames: 125115 + fps: 30 + total_tasks: 26 + total_videos: 1695 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 1.45 GB +frame_num: 125115 +frame_range: 1M +dataset_size: 1.45 GB +data_structure: 'Cobot_Magic_prepare_breakfast_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (553 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:564 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_pull_zipper.yaml b/dataset_info/Agilex_Split_Aloha_pull_zipper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99500aa941e4ad7547d7e947c8791a887c6e70df --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_pull_zipper.yaml @@ -0,0 +1,610 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_pull_zipper +dataset_uuid: 3ede76ea-63fb-4de1-a796-a3809b4e09fa +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bag +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pull up the zipper of the bag with the gripper. +- Pull up the zipper of the black bag with the gripper. +- Pull open the zipper of the black bag with the gripper. +- Pull up the zipper of the white bag with the gripper. +- Pull up the zipper of the yellow bag with the gripper. +- Pull open the zipper of the yellow bag with the gripper. +sub_tasks: +- subtask: Pull the zipper with right gripper. + subtask_index: 0 +- subtask: Pull open the zipper with your left gripper. + subtask_index: 1 +- subtask: Grasp the bag with left gripper. + subtask_index: 2 +- subtask: grasp the bag with your right gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Zip up the bag with your left gripper. + subtask_index: 5 +- subtask: Zip up the bag with your right gripper. + subtask_index: 6 +- subtask: end. + subtask_index: 7 +- subtask: Grasp the bag with right gripper. + subtask_index: 8 +- subtask: Pull the zipper with left gripper. + subtask_index: 9 +- subtask: pick up the zipper with your left gripper. + subtask_index: 10 +- subtask: Discard. + subtask_index: 11 +- subtask: Pull open the zipper with your right gripper. + subtask_index: 12 +- subtask: grasp the bag with your left gripper. + subtask_index: 13 +- subtask: null. + subtask_index: 14 +atomic_actions: +- grasp +- pull +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 1868 + total_frames: 836317 + fps: 30 + total_tasks: 15 + total_videos: 5604 + total_chunks: 2 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 11.10 GB +frame_num: 836317 +frame_range: 1M +dataset_size: 11.10 GB +data_structure: 'Cobot_Magic_pull_zipper_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (856 more entries) + + |-- debug + + | |-- episode_0000 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0001 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0002 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0003 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0004 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0005 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0006 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0007 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0008 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0009 + + | | |-- images + + | | `-- trace_report.md + + | |-- episode_0010 + + | | |-- images + + | | `-- trace_report.md + + | `-- episode_0011 + + | |-- images + + | `-- trace_report.md + + | `-- ... (39 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | |-- chunk-000 + + | | |-- observation.images.cam_high_rgb + + | | |-- observation.images.cam_left_wrist_rgb + + | | `-- observation.images.cam_right_wrist_rgb + + | `-- chunk-001 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:1867 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_pushing_magnet.yaml b/dataset_info/Agilex_Split_Aloha_pushing_magnet.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f074b270bfe8324913bcfb3afa865efaf2000f59 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_pushing_magnet.yaml @@ -0,0 +1,466 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_pushing_magnet +dataset_uuid: ad07d99e-6bee-4147-b81a-8f2dfe943ed8 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: magnet +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Push the magnet on the table from its original position to another position with + the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Push the magnet on the right to connect the magnet on the left. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- push +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 23553 + fps: 30 + total_tasks: 3 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 423.54 MB +frame_num: 23553 +frame_range: 100K +dataset_size: 423.54 MB +data_structure: 'Cobot_Magic_pushing_magnet_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_put_in_the_pear.yaml b/dataset_info/Agilex_Split_Aloha_put_in_the_pear.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0491b4769cbc14de796028a88a819b3da455ea12 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_put_in_the_pear.yaml @@ -0,0 +1,444 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_put_in_the_pear +dataset_uuid: 9ef9a074-b4b1-4d16-a577-460381b81a91 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pear +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the pear with the right gripper and place it on the right side of the table. +sub_tasks: +- subtask: Grasp the high-fiber fruit. + subtask_index: 0 +- subtask: abnormal. + subtask_index: 1 +- subtask: Place it on the right side of the table. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 97 + total_frames: 21690 + fps: 50 + total_tasks: 4 + total_videos: 291 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 461.49 MB +frame_num: 21690 +frame_range: 100K +dataset_size: 461.49 MB +data_structure: 'Cobot_Magic_put_in_the_pear_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (85 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:96 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_put_the_building_block_on_the_table.yaml b/dataset_info/Agilex_Split_Aloha_put_the_building_block_on_the_table.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1fe7eb1192277bbb6b3accb0cfaa673a268be3b7 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_put_the_building_block_on_the_table.yaml @@ -0,0 +1,446 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_put_the_building_block_on_the_table +dataset_uuid: 04f51db4-3cdd-4327-93ad-41b490a4c52c +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: building_block +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the rotating cube-shaped block on the turntable with the gripper and place + it on the table with the gripper. +sub_tasks: +- subtask: Grasp the rotating cube-shaped block on the turntable. + subtask_index: 0 +- subtask: Place the cube on the desk. + subtask_index: 1 +- subtask: abnormal. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +- place +- rotate +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 19816 + fps: 50 + total_tasks: 4 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 400.23 MB +frame_num: 19816 +frame_range: 100K +dataset_size: 400.23 MB +data_structure: 'Cobot_Magic_put_the_building_block_on_the_table_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_steamer_storage_dumpling.yaml b/dataset_info/Agilex_Split_Aloha_steamer_storage_dumpling.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7dfea8bace86a47f76c950b90db70d160b1fbc8a --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_steamer_storage_dumpling.yaml @@ -0,0 +1,468 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_steamer_storage_dumpling +dataset_uuid: df5bb1ee-1fd7-4b3d-8502-4cda9ee6bbc5 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: dumplings +- object_name: tablecloth +- object_name: steamer +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the dumplings into the steamer on the table with the blue tablecloth with + the gripper. +- Place the dumplings into the steamer on the table with the brown tablecloth with + the gripper. +- Place the dumplings into the steamer on the table with the grey tablecloth with + the gripper. +- Place the dumplings into the steamer with the pink tablecloth on the table. +- Place the dumplings into the steamer with the gripper on the white table. +- Place the dumplings into the steamer with the white tablecloth on the table. +sub_tasks: +- subtask: use the left arm to place the dumpling into the steamer. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: use the right arm to place the dumpling into the steamer. + subtask_index: 2 +- subtask: Grasp the dumpling with left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Place the dumpling on the steamer with right gripper. + subtask_index: 5 +- subtask: use the left arm to pick up a dumpling. + subtask_index: 6 +- subtask: Grasp the dumpling with right gripper. + subtask_index: 7 +- subtask: use the right arm to pick up a dumpling. + subtask_index: 8 +- subtask: Place the dumpling on the steamer with left gripper. + subtask_index: 9 +- subtask: null. + subtask_index: 10 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_front_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 580 + total_frames: 417589 + fps: 30 + total_tasks: 11 + total_videos: 1740 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 19.79 GB +frame_num: 417589 +frame_range: 1M +dataset_size: 19.79 GB +data_structure: 'Cobot_Magic_steamer_storage_dumpling_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (568 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:579 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_storage_plate.yaml b/dataset_info/Agilex_Split_Aloha_storage_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c481698c72cd099ef6fe476b2f97c157119107fa --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_storage_plate.yaml @@ -0,0 +1,469 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_storage_plate +dataset_uuid: 9f0b0953-fa62-4d10-8b2a-17b1ff44e9cf +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: rack +- object_name: tablecloth +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the test tube with your left gripper, hand it to your right gripper, and + then place it on the test tube rack with the right gripper. +sub_tasks: +- subtask: Left pick up the white plate. + subtask_index: 0 +- subtask: Left pick up the gray plate. + subtask_index: 1 +- subtask: Place the plate on the rack. + subtask_index: 2 +- subtask: Right place it at the front of the shelf. + subtask_index: 3 +- subtask: Right receive the plate. + subtask_index: 4 +- subtask: Pick up the plate from the table. + subtask_index: 5 +- subtask: Left lift the plate. + subtask_index: 6 +- subtask: end. + subtask_index: 7 +- subtask: Left pick up the blue plate. + subtask_index: 8 +- subtask: Left pick up the yellow plate. + subtask_index: 9 +- subtask: pass the plate. + subtask_index: 10 +- subtask: Right place it at the back of the shelf. + subtask_index: 11 +- subtask: Left pick up the pink plate. + subtask_index: 12 +- subtask: Left pick up the green plate. + subtask_index: 13 +- subtask: null. + subtask_index: 14 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb_rgb +- cam_right_wrist_rgb_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 84 + total_frames: 57019 + fps: 50 + total_tasks: 15 + total_videos: 252 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 903.44 MB +frame_num: 57019 +frame_range: 100K +dataset_size: 903.44 MB +data_structure: 'Cobot_Magic_storage_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (72 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb_rgb + + | `-- observation.images.cam_right_wrist_rgb_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:83 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_take_out_a_pen_from_the_pen_holder.yaml b/dataset_info/Agilex_Split_Aloha_take_out_a_pen_from_the_pen_holder.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aa6c0b9f78da5215f1aca690aed03a8f5c900f49 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_take_out_a_pen_from_the_pen_holder.yaml @@ -0,0 +1,462 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_take_out_a_pen_from_the_pen_holder +dataset_uuid: 836047ba-9812-4f07-b6bd-1d98e5c01c1d +scene_type: + level1: office + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pen +- object_name: pen_holder +- object_name: tablecloth +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the pen in the pen holder on the grey tablecloth with the left gripper. +- Place the pen in the pen holder on the green tablecloth with the left gripper. +- Place the pen in the pen holder on the white tablecloth with the left gripper. +- Place the pen in the pen holder on the grey tablecloth with the right gripper. +- Place the pen in the pen holder on the green tablecloth with the right gripper. +sub_tasks: +- subtask: Place the pen on the table with the left gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Pick up the pen with the left gripper. + subtask_index: 3 +- subtask: Pick up the pen from the pen holder. + subtask_index: 4 +- subtask: Place the pen on the table with the right gripper. + subtask_index: 5 +- subtask: Pick up the pen with the right gripper. + subtask_index: 6 +- subtask: Place the pen on the table. + subtask_index: 7 +- subtask: abnormal. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb_rgb +- cam_right_wrist_rgb_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 488 + total_frames: 225692 + fps: 50 + total_tasks: 10 + total_videos: 1464 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 6.53 GB +frame_num: 225692 +frame_range: 1M +dataset_size: 6.53 GB +data_structure: 'Cobot_Magic_take_out_a_pen_from_the_pen_holder_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (476 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb_rgb + + | `-- observation.images.cam_right_wrist_rgb_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:487 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_take_out_the_bread.yaml b/dataset_info/Agilex_Split_Aloha_take_out_the_bread.yaml new file mode 100644 index 0000000000000000000000000000000000000000..07d88dd7009b4aa77468bc66d864153ad9201b10 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_take_out_the_bread.yaml @@ -0,0 +1,460 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_take_out_the_bread +dataset_uuid: 2fb93e01-1b87-444e-8fef-493ab51a3c3f +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bread_machine +- object_name: bread +- object_name: tablecloth +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the toasted bread from the bread machine with the gripper and place it on + the plate on the blue coffee table. +- Pick up the toasted bread from the bread machine with the gripper and place it on + the plate on the light coffee tablecloth. +- Pick up the toasted bread from the bread machine with the gripper and place it on + the plate on the green coffee tablecloth. +- Pick up the toasted bread from the bread machine with the gripper and place it on + the plate on the grey coffee table. +- Pick up the toasted bread from the bread machine with the gripper and place it on + the white table, then place it on the plate. +- Pick up the toasted bread from the bread machine with the gripper and place it on + the white checkered table. Place it on the plate with the gripper. +sub_tasks: +- subtask: use the right arm to place a cut of bread into the plate. + subtask_index: 0 +- subtask: use the left arm to place a cut of bread into the empty plate. + subtask_index: 1 +- subtask: use the left arm to pick up out a cut of bread. + subtask_index: 2 +- subtask: use the right arm to pick up out a cut of bread. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- place +- pick +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_front_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 588 + total_frames: 333147 + fps: 30 + total_tasks: 5 + total_videos: 1764 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 15.15 GB +frame_num: 333147 +frame_range: 1M +dataset_size: 15.15 GB +data_structure: 'Cobot_Magic_take_out_the_bread_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (576 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:587 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_take_the_shoes_off_the_shelf.yaml b/dataset_info/Agilex_Split_Aloha_take_the_shoes_off_the_shelf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bf399bc6b7d994ae5ed40f05159be6568e21db4f --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_take_the_shoes_off_the_shelf.yaml @@ -0,0 +1,468 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_take_the_shoes_off_the_shelf +dataset_uuid: ed522b9e-68ff-49a2-b61d-a81ed07e5aa2 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: shoes +- object_name: shoe_rack +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the shoes from the shelf with your hand. Place them on the blue tablecloth + with your hand. +- Pick up the shoes from the shelf with the hand. +- Pick up the shoes from the shelf with your hand. Place them on the green tablecloth + with your hand. +- Pick up the shoes from the shelf with your hand. Place them on the grey tablecloth + with your hand. +- Pick up the shoes from the shelf with your hand on the white table. +- Pick up the shoes from the shelf with your hand. Place them on the white checkered + tablecloth with your hand. +sub_tasks: +- subtask: use the right arm to clamp a shoe in the middle of the shoe rack. + subtask_index: 0 +- subtask: use the right arm to pick up out the clamped shoe from the shoe rack and + place it down. + subtask_index: 1 +- subtask: use the left arm to clamp a shoe in the middle of the shoe rack. + subtask_index: 2 +- subtask: use the left arm to clamp a shoe on the left side of the shoe rack. + subtask_index: 3 +- subtask: Use your left arm to remove the clamped shoe from the shoe rack and place + it down. + subtask_index: 4 +- subtask: use the right arm to clamp a shoe on the right side of the shoe rack. + subtask_index: 5 +- subtask: use the right arm to clamp a shoe on the left side of the shoe rack. + subtask_index: 6 +- subtask: grasp the shoe in the middle of the shoe rack with your right arm. + subtask_index: 7 +- subtask: use the left arm to clamp a shoe on the right side of the shoe rack. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- place +- pick +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_front_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 595 + total_frames: 321834 + fps: 30 + total_tasks: 10 + total_videos: 1785 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 18.19 GB +frame_num: 321834 +frame_range: 1M +dataset_size: 18.19 GB +data_structure: 'Cobot_Magic_take_the_shoes_off_the_shelf_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (583 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:594 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_the_box_stores_table_tennis_balls.yaml b/dataset_info/Agilex_Split_Aloha_the_box_stores_table_tennis_balls.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4e9777028591419e9a4d4e84e67cde980f40e041 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_the_box_stores_table_tennis_balls.yaml @@ -0,0 +1,453 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_the_box_stores_table_tennis_balls +dataset_uuid: 4af013a1-8691-4531-a11d-4a02b8ba9fdf +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +- object_name: table_tennis +- object_name: tablecloth +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the table tennis balls into the box on the blue tablecloth with the gripper. +- Place the table tennis balls into the box on the green tablecloth with the gripper. +- Place the table tennis balls into the box on the light coffee tablecloth with the + gripper. +- Place the table tennis balls into the box on the grey tablecloth with the gripper. +- Place the table tennis balls into the box on the white table with the gripper. +sub_tasks: +- subtask: use the right arm to clamp the table tennis ball closest to it. + subtask_index: 0 +- subtask: use the right arm to place the table tennis ball into the box. + subtask_index: 1 +- subtask: use the left arm to clamp the table tennis ball closest to it. + subtask_index: 2 +- subtask: use the left arm to place the table tennis ball into the box. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- place +- pick +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_front_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 477 + total_frames: 438756 + fps: 30 + total_tasks: 5 + total_videos: 1431 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 19.91 GB +frame_num: 438756 +frame_range: 1M +dataset_size: 19.91 GB +data_structure: 'Cobot_Magic_the_box_stores_table_tennis_balls_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (465 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:476 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_the_plate_holds_the_fruit.yaml b/dataset_info/Agilex_Split_Aloha_the_plate_holds_the_fruit.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3caab54f3f3553e5e8860573b0b31302da711a0e --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_the_plate_holds_the_fruit.yaml @@ -0,0 +1,514 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_the_plate_holds_the_fruit +dataset_uuid: 052c69fa-debe-4d27-9d6d-ae6afff264c2 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: fruit +- object_name: plate +- object_name: tablecloth +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the fruit from the cloth bag and place it on the plate with the gripper. +- Pick up the fruit from the bag and place it on the plate on the brown tablecloth. +- Pick up the fruit from the bag with the gripper and place it on the plate on the + green tablecloth. +- Pick up the fruit from the bag with the gripper and place it on the plate on the + grey tablecloth. +- Pick up the fruit from the cloth bag on the white table and place it on the plate + with the gripper. +- Pick up the fruit from the bag with the gripper and place it on the plate on the + white checkered tablecloth. +sub_tasks: +- subtask: use the left arm to pick up a banana from the bag. + subtask_index: 0 +- subtask: use the right arm to pick up a kiwi from the bag. + subtask_index: 1 +- subtask: use the right arm to place the kiwi into the empty plate on the left. + subtask_index: 2 +- subtask: use the left arm to pick up a pear from the bag. + subtask_index: 3 +- subtask: use the right arm to place the apple into the empty plate on the left. + subtask_index: 4 +- subtask: use the left arm to place the kiwi into the empty plate on the right. + subtask_index: 5 +- subtask: use the left arm to pick up a kiwi from the bag. + subtask_index: 6 +- subtask: use the right arm to place the peach into the empty plate on the left. + subtask_index: 7 +- subtask: use the left arm to place the mango into the empty plate on the right. + subtask_index: 8 +- subtask: use the right arm to place the pomegranate into the empty plate on the + left. + subtask_index: 9 +- subtask: use the left arm to pick up an apple from the bag. + subtask_index: 10 +- subtask: use the left arm to place the peach into the empty plate on the right. + subtask_index: 11 +- subtask: use the right arm to pick up a pomegranate from the bag. + subtask_index: 12 +- subtask: use the left arm to pick up a mango from the bag. + subtask_index: 13 +- subtask: use the right arm to place the mango into the empty plate on the left. + subtask_index: 14 +- subtask: use the right arm to pick up a mango from the bag. + subtask_index: 15 +- subtask: use the right arm to pick up a banana from the bag. + subtask_index: 16 +- subtask: use the right arm to pick up a peach from the bag. + subtask_index: 17 +- subtask: use the right arm to pick up an apple from the bag. + subtask_index: 18 +- subtask: use the left arm to place the banana into the empty plate on the right. + subtask_index: 19 +- subtask: use the left arm to pick up a peach from the bag. + subtask_index: 20 +- subtask: use the left arm to place the pomegranate into the empty plate on the right. + subtask_index: 21 +- subtask: use the left arm to place the lemon into the empty plate on the right. + subtask_index: 22 +- subtask: use the right arm to place the pear into the empty plate on the left. + subtask_index: 23 +- subtask: use the right arm to place the lemon into the empty plate on the left. + subtask_index: 24 +- subtask: use the right arm to place the banana into the empty plate on the right. + subtask_index: 25 +- subtask: use the left arm to pick up a lemon from the bag. + subtask_index: 26 +- subtask: use the right arm to pick up a pear from the bag. + subtask_index: 27 +- subtask: use the left arm to place the apple into the empty plate on the right. + subtask_index: 28 +- subtask: use the right arm to pick up a lemon from the bag. + subtask_index: 29 +- subtask: use the left arm to place the pear into the empty plate on the right. + subtask_index: 30 +- subtask: use the left arm to pick up a pomegranate from the bag. + subtask_index: 31 +- subtask: null. + subtask_index: 32 +atomic_actions: +- grasp +- place +- pick +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_front_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 525 + total_frames: 190455 + fps: 30 + total_tasks: 33 + total_videos: 1575 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 8.32 GB +frame_num: 190455 +frame_range: 1M +dataset_size: 8.32 GB +data_structure: 'Cobot_Magic_the_plate_holds_the_fruit_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (513 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:524 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_the_plate_holds_the_vegetables.yaml b/dataset_info/Agilex_Split_Aloha_the_plate_holds_the_vegetables.yaml new file mode 100644 index 0000000000000000000000000000000000000000..16d3d68c546f7cfce49639e4dc82358a169397fb --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_the_plate_holds_the_vegetables.yaml @@ -0,0 +1,507 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_the_plate_holds_the_vegetables +dataset_uuid: 3ce5fdfc-c006-40f2-95d9-16a38b9e6337 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: vegetables +- object_name: plate +- object_name: tablecloth +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the vegetables from the cloth bag and place them on the plate with the gripper. +- Pick up the vegetables from the bag with the gripper and place them on the plate + on the green tablecloth. +- Pick up the vegetables from the bag with the gripper and place them on the plate + on the grey tablecloth. +- Pick up the vegetables from the bag and place them on the plate on the pink tablecloth. +- Pick up the vegetables from the cloth bag and place them on the plate with the gripper. +- Pick up the vegetables from the bag and place them on the plate with the gripper. +sub_tasks: +- subtask: Place the pumpkin on the plate with right gripper. + subtask_index: 0 +- subtask: Place the radish on the plate with right gripper. + subtask_index: 1 +- subtask: Place the potato on the plate with left gripper. + subtask_index: 2 +- subtask: Place the bell pepper on the plate with right gripper. + subtask_index: 3 +- subtask: Place the eggplant on the plate with right gripper. + subtask_index: 4 +- subtask: Place the eggplant on the plate with left gripper. + subtask_index: 5 +- subtask: Grasp the bell pepper with left gripper. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: Grasp the bell pepper with right gripper. + subtask_index: 8 +- subtask: Place the bell pepper on the plate with left gripper. + subtask_index: 9 +- subtask: Grasp the bitter melon with left gripper. + subtask_index: 10 +- subtask: Grasp the eggplant with right gripper. + subtask_index: 11 +- subtask: Grasp the potato with left gripper. + subtask_index: 12 +- subtask: Abnormal. + subtask_index: 13 +- subtask: Place the radish on the plate with left gripper. + subtask_index: 14 +- subtask: Grasp the bitter melon with right gripper. + subtask_index: 15 +- subtask: Grasp the eggplant with left gripper. + subtask_index: 16 +- subtask: Place the pumpkin on the plate with left gripper. + subtask_index: 17 +- subtask: Place the carrot on the plate with right gripper. + subtask_index: 18 +- subtask: Place the carrot on the plate with left gripper. + subtask_index: 19 +- subtask: Grasp the carrot with left gripper. + subtask_index: 20 +- subtask: Grasp the radish with left gripper. + subtask_index: 21 +- subtask: Place the bitter melon on the plate with left gripper. + subtask_index: 22 +- subtask: Grasp the pumpkin with left gripper. + subtask_index: 23 +- subtask: Grasp the radish with right gripper. + subtask_index: 24 +- subtask: Grasp the carrot with right gripper. + subtask_index: 25 +- subtask: Grasp the potato with right gripper. + subtask_index: 26 +- subtask: Place the potato on the plate with right gripper. + subtask_index: 27 +- subtask: Grasp the pumpkin with right gripper. + subtask_index: 28 +- subtask: Place the bitter melon on the plate with right gripper. + subtask_index: 29 +- subtask: null. + subtask_index: 30 +atomic_actions: +- grasp +- place +- pick +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_front_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 505 + total_frames: 179090 + fps: 30 + total_tasks: 31 + total_videos: 1515 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 8.54 GB +frame_num: 179090 +frame_range: 1M +dataset_size: 8.54 GB +data_structure: 'Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (493 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:504 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_turn_on_the_bulb.yaml b/dataset_info/Agilex_Split_Aloha_turn_on_the_bulb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f11c79ba96675f19747ebbd361303401c1188a9c --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_turn_on_the_bulb.yaml @@ -0,0 +1,436 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_turn_on_the_bulb +dataset_uuid: 7bd56e56-b106-4062-8952-e5bffc346b4c +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bulb +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Press the switch on the desk with the gripper to turn on the bulb. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Turn on the swap. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- press +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 11 + total_frames: 2216 + fps: 50 + total_tasks: 3 + total_videos: 33 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 52.81 MB +frame_num: 2216 +frame_range: 10K +dataset_size: 52.81 MB +data_structure: 'Cobot_Magic_turn_on_the_bulb_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | `-- episode_000010.parquet + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:10 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_twist_bottle_cap.yaml b/dataset_info/Agilex_Split_Aloha_twist_bottle_cap.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d41eb7b54ac01f78efc75e15a5b9b342128ca7d2 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_twist_bottle_cap.yaml @@ -0,0 +1,578 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_twist_bottle_cap +dataset_uuid: c084dcfc-e7a8-4e35-a194-0325296dcd6e +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bottle +- object_name: master_kong_oolong_tea +- object_name: green_tea +- object_name: meinianda +- object_name: yili_changqing +- object_name: cestbon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Tighten the cap on the water bottle with the gripper. +- Loosen the cap of the mineral water bottle with the gripper. +- Tighten the cap of the green tea bottle with the gripper. +- Loosen the cap of the green tea bottle with the gripper. +- Tighten the cap of the Master Kong Oolong tea bottle with the gripper. +- Loosen the bottle cap of Master Kang Oolong Tea with the gripper. +- Tighten the cap of the meinianda bottle with the gripper. +- Loosen the cap of the meinianda bottle with the gripper. +- Tighten the cap of the Yili Changqing bottle with the gripper. +sub_tasks: +- subtask: Place the Yili Changqing with the left gripper. + subtask_index: 0 +- subtask: Lift the Peach Oolong Tea with the left gripper. + subtask_index: 1 +- subtask: Place the bottle cap on the table with the right gripper. + subtask_index: 2 +- subtask: Move the Peach Oolong Tea from right to left. + subtask_index: 3 +- subtask: Move from left to right. + subtask_index: 4 +- subtask: Move the Peach Oolong Tea from left to right. + subtask_index: 5 +- subtask: Secure the C'estbon with the left gripper. + subtask_index: 6 +- subtask: Move the Mirinda to the right with the left gripper. + subtask_index: 7 +- subtask: Place the bottle on the table with the left gripper. + subtask_index: 8 +- subtask: Grasp the bottle and move it to the center of the table with the left gripper. + subtask_index: 9 +- subtask: Move the Mirinda from left to right. + subtask_index: 10 +- subtask: Move the Mirinda from top to bottom. + subtask_index: 11 +- subtask: Discard. + subtask_index: 12 +- subtask: Place the bottle cap on the table. + subtask_index: 13 +- subtask: End. + subtask_index: 14 +- subtask: Place the C'estbon with the left gripper. + subtask_index: 15 +- subtask: Move the Mirinda from right to left. + subtask_index: 16 +- subtask: Move the green tea to the right with the left gripper. + subtask_index: 17 +- subtask: Lift the bottle and move it to the center of the table with the left gripper. + subtask_index: 18 +- subtask: pick up the green tea with the left gripper. + subtask_index: 19 +- subtask: Secure the Peach Oolong Tea with the left gripper. + subtask_index: 20 +- subtask: Place the Mirinda with the left gripper. + subtask_index: 21 +- subtask: Fix the Yili Changqing on the left. + subtask_index: 22 +- subtask: Secure the green tea with the left gripper. + subtask_index: 23 +- subtask: Secure the Yili Changqing with the left gripper. + subtask_index: 24 +- subtask: Move the Yili Changqing from left to right. + subtask_index: 25 +- subtask: Abnormal. + subtask_index: 26 +- subtask: Place the bottle cap on the right. + subtask_index: 27 +- subtask: Place the green tea with the left gripper. + subtask_index: 28 +- subtask: end. + subtask_index: 29 +- subtask: Move the Yili Changqing to the right with the left gripper. + subtask_index: 30 +- subtask: Lift the green tea with the left gripper. + subtask_index: 31 +- subtask: pick up the C'estbon with the left gripper. + subtask_index: 32 +- subtask: Move from right to left. + subtask_index: 33 +- subtask: Unscrew the bottle cap with the right gripper while holding the bottle + with the left gripper. + subtask_index: 34 +- subtask: Secure the Mirinda with the left gripper. + subtask_index: 35 +- subtask: pick up the Yili Changqing with the left gripper. + subtask_index: 36 +- subtask: Lift the Yili Changqing with the left gripper. + subtask_index: 37 +- subtask: Move the C'estbon to the right with the left gripper. + subtask_index: 38 +- subtask: Place the Peach Oolong Tea with the left gripper. + subtask_index: 39 +- subtask: Move the Yili Changqing from right to left. + subtask_index: 40 +- subtask: Fix the Mirinda on the left. + subtask_index: 41 +- subtask: Move the Yili Changqing from bottom to top. + subtask_index: 42 +- subtask: pick up the Peach Oolong Tea with the left gripper. + subtask_index: 43 +- subtask: Move the Peach Oolong Tea to the right with the left gripper. + subtask_index: 44 +- subtask: Move the Yili Changqing from top to bottom. + subtask_index: 45 +- subtask: pick up the Mirinda with the left gripper. + subtask_index: 46 +- subtask: rotate the bottle cap with the right gripper. + subtask_index: 47 +- subtask: Lift the Mirinda with the left gripper. + subtask_index: 48 +- subtask: Place the bottle cap on the table with the right gripper. + subtask_index: 49 +- subtask: null. + subtask_index: 50 +atomic_actions: +- grasp +- pick +- place +- rotate +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 863 + total_frames: 749388 + fps: 30 + total_tasks: 51 + total_videos: 2589 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 8.69 GB +frame_num: 749388 +frame_range: 1M +dataset_size: 8.69 GB +data_structure: 'Cobot_Magic_twist_bottle_cap_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (851 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:862 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_vase_storage_flower.yaml b/dataset_info/Agilex_Split_Aloha_vase_storage_flower.yaml new file mode 100644 index 0000000000000000000000000000000000000000..59306ed36c6409b0a3b5e75acbe1ed71732d9b26 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_vase_storage_flower.yaml @@ -0,0 +1,492 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_vase_storage_flower +dataset_uuid: ba4d8977-ef3d-433d-97f5-974b820832e8 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: flowers +- object_name: tablecloth +- object_name: vase +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Insert the flowers into the vase on the table with the blue tablecloth with the + gripper. +- Insert the flowers into the vase on the table with the green tablecloth with the + gripper. +- Insert the flowers into the vase on the table with the grey tablecloth with the + gripper. +- Insert the flowers into the vase on the table with the pink tablecloth with the + gripper. +- Insert the flowers into the vase on the white table with the gripper. +- Insert the flowers into the vase on the table with the white tablecloth with the + gripper. +sub_tasks: +- subtask: Place the pink flower in the vase with right gripper. + subtask_index: 0 +- subtask: Grasp the dumpling with right gripper. + subtask_index: 1 +- subtask: Grasp the white flower with right gripper. + subtask_index: 2 +- subtask: place the flowers in the vase with both grippers. + subtask_index: 3 +- subtask: Grasp the dumpling with left gripper. + subtask_index: 4 +- subtask: use the right arm to insert the flowers into the vase. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: use the right arm to pick up a bunch of fresh flowers. + subtask_index: 7 +- subtask: End. + subtask_index: 8 +- subtask: Place the white flower in the vase with right gripper. + subtask_index: 9 +- subtask: Place the dumpling on the steamer with left gripper. + subtask_index: 10 +- subtask: Place the pink flower in the vase with left gripper. + subtask_index: 11 +- subtask: Grasp the blue flower with right gripper. + subtask_index: 12 +- subtask: Place the blue flower in the vase with right gripper. + subtask_index: 13 +- subtask: Place the dumpling on the steamer with right gripper. + subtask_index: 14 +- subtask: use the left arm to insert the flowers into the vase. + subtask_index: 15 +- subtask: use the left arm to pick up a bunch of fresh flowers. + subtask_index: 16 +- subtask: Place the blue flower in the vase with left gripper. + subtask_index: 17 +- subtask: Grasp the pink flower with left gripper. + subtask_index: 18 +- subtask: Grasp the pink flower with right gripper. + subtask_index: 19 +- subtask: Grasp the blue flower with left gripper. + subtask_index: 20 +- subtask: null. + subtask_index: 21 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_front_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 455 + total_frames: 239272 + fps: 30 + total_tasks: 22 + total_videos: 1365 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 12.79 GB +frame_num: 239272 +frame_range: 1M +dataset_size: 12.79 GB +data_structure: 'Cobot_Magic_vase_storage_flower_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (443 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:454 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_water_bottle_storage.yaml b/dataset_info/Agilex_Split_Aloha_water_bottle_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5f1702eeae0ad1d06fbf51cb4a0c3c903d47ba9d --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_water_bottle_storage.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_water_bottle_storage +dataset_uuid: d77bcbca-f9c3-445e-b349-2c6e1470f4b0 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: drawer +- object_name: water_bottle +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the water bottle into the drawer with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the water bottle inside the drawer. + subtask_index: 1 +- subtask: Close the drawer. + subtask_index: 2 +- subtask: Place the water bottle in the top drawer with the left gripper. + subtask_index: 3 +- subtask: Close the top drawer with the right gripper. + subtask_index: 4 +- subtask: Open the top drawer with the right gripper. + subtask_index: 5 +- subtask: Open the drawer. + subtask_index: 6 +- subtask: Pick up the water bottle with the left gripper. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- pick +- place +- open +- close +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 56495 + fps: 30 + total_tasks: 9 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 1.03 GB +frame_num: 56495 +frame_range: 100K +dataset_size: 1.03 GB +data_structure: 'Cobot_Magic_water_bottle_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_beauty_sponge_and_cake_to_place.yaml b/dataset_info/Airbot_MMK2_beauty_sponge_and_cake_to_place.yaml new file mode 100644 index 0000000000000000000000000000000000000000..31c8d026ba6390147e2996e68dcbf32db181f5cf --- /dev/null +++ b/dataset_info/Airbot_MMK2_beauty_sponge_and_cake_to_place.yaml @@ -0,0 +1,488 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_beauty_sponge_and_cake_to_place +dataset_uuid: c4b8c5b1-7a57-48f3-9074-c2a019dbfd16 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: beauty_blender +- object_name: cake +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the beauty blender from the plate with the left gripper and place it on + the table. Then, pick up the cake on the table with the right gripper and place + it on the plate. +sub_tasks: +- subtask: Static. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the bullet into the plate with the left gripper. + subtask_index: 2 +- subtask: Grasp the cake on the table with the right gripper. + subtask_index: 3 +- subtask: Place the bullet on the table with the left gripper. + subtask_index: 4 +- subtask: Abnormal. + subtask_index: 5 +- subtask: Place the cake into the plate with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 8096 + fps: 30 + total_tasks: 8 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 394.87 MB +frame_num: 8096 +frame_range: 10K +dataset_size: 394.87 MB +data_structure: 'AIRBOT_MMK2_beauty_sponge_and_cake_to_place_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_bowl_storage_pepper.yaml b/dataset_info/Airbot_MMK2_bowl_storage_pepper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..523a8a112bae715b69c84d9e180153cbd8778d39 --- /dev/null +++ b/dataset_info/Airbot_MMK2_bowl_storage_pepper.yaml @@ -0,0 +1,494 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_bowl_storage_pepper +dataset_uuid: 83f67fd9-c480-4786-ae1d-41475a4f4618 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: chili_pepper +- object_name: bowl +- object_name: pumpkin +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Throw the chili peppers into the blue bowl with the right gripper. +- Place the pumpkin into the large white bowl with the left gripper. Pass the space + to the left gripper with the right gripper. +- Place the small bowl into the large one with the left gripper, and pass it to the + left gripper with the right gripper. +sub_tasks: +- subtask: Place the white bowl on the pink bowl with the left gripper. + subtask_index: 0 +- subtask: Grasp the white bowl with the left gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Grasp the pumpkin with the left gripper. + subtask_index: 5 +- subtask: Place the pumpkin on the pink bowl with the left gripper. + subtask_index: 6 +- subtask: Grasp the yellow round chili pepper with the right gripper. + subtask_index: 7 +- subtask: Place yellow round chili pepper on the blue bowl with the right gripper. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 150 + total_frames: 19594 + fps: 30 + total_tasks: 10 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 715.74 MB +frame_num: 19594 +frame_range: 100K +dataset_size: 715.74 MB +data_structure: 'AIRBOT_MMK2_bowl_storage_pepper_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (138 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:149 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_boxs_storage.yaml b/dataset_info/Airbot_MMK2_boxs_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1cb59673dfd2f94ccfe657bc989fdbc192bff8b8 --- /dev/null +++ b/dataset_info/Airbot_MMK2_boxs_storage.yaml @@ -0,0 +1,514 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_boxs_storage +dataset_uuid: fda26243-c5f4-4e3a-8a7e-84a7d7c71f3a +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: calculator_box +- object_name: power_bank_box +- object_name: bucket +- object_name: pomegranate +- object_name: mango +- object_name: potato +- object_name: pumpkin +- object_name: compartment +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the calculator box into the yellow bucket with the left gripper and the power + bank box into the yellow bucket with the right gripper. +- Throw the pomegranate into the left square with the left gripper and the mango into + the right square with the right gripper. +- Throw the potato into the left square with the left gripper and the pumpkin into + the right square with the right gripper. +sub_tasks: +- subtask: Grasp the potato with the left gripper. + subtask_index: 0 +- subtask: Place the phone case box in the yellow box with the right gripper. + subtask_index: 1 +- subtask: Place the pumpkin into the right compartment of the storage box with the + right gripper. + subtask_index: 2 +- subtask: Place the calculator box in the yellow box with the left gripper. + subtask_index: 3 +- subtask: Static. + subtask_index: 4 +- subtask: Grasp the calculator box with the left gripper. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: Grasp the mango with the right gripper. + subtask_index: 7 +- subtask: Grasp the pomegranate with the left gripper. + subtask_index: 8 +- subtask: Place the pomegranate into the left compartment of the storage box with + the left gripper. + subtask_index: 9 +- subtask: Place the mango into the right compartment of the storage box with the + right gripper. + subtask_index: 10 +- subtask: Grasp the phone case box with the right gripper. + subtask_index: 11 +- subtask: Place the potato into the left compartment of the storage box with the + left gripper. + subtask_index: 12 +- subtask: Grasp the pumpkin with the right gripper. + subtask_index: 13 +- subtask: null. + subtask_index: 14 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 138 + total_frames: 40906 + fps: 30 + total_tasks: 15 + total_videos: 552 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.23 GB +frame_num: 40906 +frame_range: 100K +dataset_size: 1.23 GB +data_structure: 'AIRBOT_MMK2_boxs_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (126 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:137 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_building_block_storage.yaml b/dataset_info/Airbot_MMK2_building_block_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..24517b8a659f4ec45725d652ad2d3c5e0ab41367 --- /dev/null +++ b/dataset_info/Airbot_MMK2_building_block_storage.yaml @@ -0,0 +1,517 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_building_block_storage +dataset_uuid: 55a64137-7092-451d-8a70-b22ff2383b33 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: building_block +- object_name: toy_circle +- object_name: building_block_base +- object_name: box +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the yellow building block on the left side of the table with the left gripper + and place it in the blue circle. Then, pick up the yellow building block on the + right side of the table with the right gripper and place it in the blue circle. +- Pick up the cylindrical building block from the table with the right gripper and + place it on the corresponding block base. +- Pick up the green cylinder on the left side of the table with the left gripper and + place it in the paper box. Then, pick up the red cylinder on the right side of the + table with the right gripper and place it in the paper box. +- Pick up the building blocks on the table with both grippers simultaneously. Place + them on the plate with both grippers. +- Pick up the rectangular building blocks from the plate with the left gripper, and + then pick up the rectangular building blocks from the plate with the right gripper. +sub_tasks: +- subtask: Place the red cylinder into the box with the right gripper. + subtask_index: 0 +- subtask: Place the yellow block in the blue circle with the left gripper. + subtask_index: 1 +- subtask: Place the green coil on the wooden pillar with the right gripper. + subtask_index: 2 +- subtask: Grasp the green rectangular block on the plate with the right gripper. + subtask_index: 3 +- subtask: Place the yellow block in the blue circle with the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Grasp the red cylinder with the right gripper. + subtask_index: 6 +- subtask: Place green rectangular block on the table with the right gripper. + subtask_index: 7 +- subtask: Grasp the yellow block with the left gripper. + subtask_index: 8 +- subtask: Grasp the green coil with the right gripper. + subtask_index: 9 +- subtask: Abnormal. + subtask_index: 10 +- subtask: Grasp the green cylinder with the left gripper. + subtask_index: 11 +- subtask: Grasp the yellow block with the rightt gripper. + subtask_index: 12 +- subtask: Grasp the red rectangular block on the plate with the left gripper. + subtask_index: 13 +- subtask: Place the green cylinder into the box with the left gripper. + subtask_index: 14 +- subtask: Place red rectangular block on the table with the left gripper. + subtask_index: 15 +- subtask: null. + subtask_index: 16 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 246 + total_frames: 39347 + fps: 30 + total_tasks: 17 + total_videos: 984 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.43 GB +frame_num: 39347 +frame_range: 100K +dataset_size: 1.43 GB +data_structure: 'AIRBOT_MMK2_building_block_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (234 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:245 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_cake_storage.yaml b/dataset_info/Airbot_MMK2_cake_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9328c841ef4a5fe58ee948649f142724d12d4306 --- /dev/null +++ b/dataset_info/Airbot_MMK2_cake_storage.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_cake_storage +dataset_uuid: ac6999bc-70a1-42a2-9b0c-7da1a22d297c +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cake +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cake on the table with both grippers. Place it on a white plate with + both grippers. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the cake with the left gripper. + subtask_index: 1 +- subtask: Place the cake on the white basket with the left gripper. + subtask_index: 2 +- subtask: Grasp the cake with the right gripper. + subtask_index: 3 +- subtask: Place the cake on the white basket with the right gripper. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 4691 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 198.47 MB +frame_num: 4691 +frame_range: 10K +dataset_size: 198.47 MB +data_structure: 'AIRBOT_MMK2_cake_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_chop_the_scallions.yaml b/dataset_info/Airbot_MMK2_chop_the_scallions.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34dd624bca41cee66691037076c455d9c306203c --- /dev/null +++ b/dataset_info/Airbot_MMK2_chop_the_scallions.yaml @@ -0,0 +1,488 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_chop_the_scallions +dataset_uuid: 5beeb056-0ab1-4611-8791-0f80b7dc82d2 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: knife + bject_name: green_onion +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the knife off the knife rack with the right gripper, grasp the scallion + with the left gripper, cut the scallion with the right gripper, and then place the + knife back on the knife rack with the right gripper. +sub_tasks: +- subtask: Grasp the kitchen knife with the right gripper. + subtask_index: 0 +- subtask: Press the scallion with the left gripper. + subtask_index: 1 +- subtask: Place the kitchen knife back on the knife holder with the right gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Abnormal. + subtask_index: 5 +- subtask: Cut scallions with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +- cut +robot_name: Airbot_MMK2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 14308 + fps: 30 + total_tasks: 8 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 573.94 MB +frame_num: 14308 +frame_range: 100K +dataset_size: 573.94 MB +data_structure: 'AIRBOT_MMK2_chop_the_scallions_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_clean_the_desktop.yaml b/dataset_info/Airbot_MMK2_clean_the_desktop.yaml new file mode 100644 index 0000000000000000000000000000000000000000..736bbaadf9a2fa795b5b7414eb9f529ee8d55a55 --- /dev/null +++ b/dataset_info/Airbot_MMK2_clean_the_desktop.yaml @@ -0,0 +1,481 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_clean_the_desktop +dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d999 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: calculator_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the calculator box with the left gripper and pass it to the right gripper, + and then place it on the table with the right gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the tissue with the right gripper. + subtask_index: 1 +- subtask: Place the umbrella on the white lid with the left gripper. + subtask_index: 2 +- subtask: Place the tissue on the white lid with the right gripper. + subtask_index: 3 +- subtask: Grasp the umbrella with the left gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 8709 + fps: 30 + total_tasks: 6 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 327.50 MB +frame_num: 8709 +frame_range: 10K +dataset_size: 327.50 MB +data_structure: 'AIRBOT_MMK2_clean_the_desktop_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_clean_the_desktop_a.yaml b/dataset_info/Airbot_MMK2_clean_the_desktop_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9ff4ac0669fc3e28248d6d985ff66188034ede79 --- /dev/null +++ b/dataset_info/Airbot_MMK2_clean_the_desktop_a.yaml @@ -0,0 +1,479 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_clean_the_desktop_a +dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d998 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: calculator_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the calculator box with the left gripper and pass it to the right gripper, + and then place it on the table with the right gripper. +sub_tasks: +- subtask: Place the calculator case in the center of table with right gripper. + subtask_index: 0 +- subtask: Grasp the calculator case with left gripper. + subtask_index: 1 +- subtask: Pass the calculator case to right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 9819 + fps: 30 + total_tasks: 5 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 338.28 MB +frame_num: 9819 +frame_range: 10K +dataset_size: 338.28 MB +data_structure: 'AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_click_pen.yaml b/dataset_info/Airbot_MMK2_click_pen.yaml new file mode 100644 index 0000000000000000000000000000000000000000..209717ffea1dfaf28e196ce0c4acfecdeef99dff --- /dev/null +++ b/dataset_info/Airbot_MMK2_click_pen.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_click_pen +dataset_uuid: 09836b65-7571-46d2-900b-8b8522760081 +scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: block +- object_name: pen +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the pen with your hand. Press the pen swap and then place it on the table + with the hand. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Lift the pen with the right gripper. + subtask_index: 1 +- subtask: Grasp the pen with the right gripper. + subtask_index: 2 +- subtask: Place the pen on the table with the right gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Press the pen swap with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +- press +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 30984 + fps: 30 + total_tasks: 7 + total_videos: 400 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.12 GB +frame_num: 30984 +frame_range: 100K +dataset_size: 1.12 GB +data_structure: 'Airbot_MMK2_click_pen_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_close_door_left.yaml b/dataset_info/Airbot_MMK2_close_door_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1ce705a2d534df6651566fa5951c1cc1cdf755cb --- /dev/null +++ b/dataset_info/Airbot_MMK2_close_door_left.yaml @@ -0,0 +1,473 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_close_door_left +dataset_uuid: 1aa24d0c-1a83-4721-b6b3-98f80bb63074 +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cabinet +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Close the cabinet door with the left gripper. +sub_tasks: +- subtask: Touch the door with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Close the cupboard door with the left gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- push +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 5322 + fps: 30 + total_tasks: 4 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 161.79 MB +frame_num: 5322 +frame_range: 10K +dataset_size: 161.79 MB +data_structure: 'Airbot_MMK2_close_door_left_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_close_door_right.yaml b/dataset_info/Airbot_MMK2_close_door_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bd328eef10d52e81f71f1ff356d6141c7ddccb09 --- /dev/null +++ b/dataset_info/Airbot_MMK2_close_door_right.yaml @@ -0,0 +1,473 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_close_door_right +dataset_uuid: 7a8b7f65-df9e-4626-b72f-8714b1cc99fc +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cabinet +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Close the cabinet door with the right gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Close the cupboard door with the right gripper. + subtask_index: 1 +- subtask: Touch the door with the right gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- push +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 5437 + fps: 30 + total_tasks: 4 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 148.65 MB +frame_num: 5437 +frame_range: 10K +dataset_size: 148.65 MB +data_structure: 'Airbot_MMK2_close_door_right_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_close_doors.yaml b/dataset_info/Airbot_MMK2_close_doors.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2a6388465609723e53dcc1ffaaf5c056039f52c6 --- /dev/null +++ b/dataset_info/Airbot_MMK2_close_doors.yaml @@ -0,0 +1,477 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_close_doors +dataset_uuid: ebb97679-5700-4e0f-a727-1002e94b3354 +scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cabinet +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Close the door with the hand. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Touch the right cabinet door with the right gripper. + subtask_index: 1 +- subtask: Close the door with the right gripper. + subtask_index: 2 +- subtask: Touch the left cabinet door with the left gripper. + subtask_index: 3 +- subtask: Close the door with the left gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- push +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 8141 + fps: 30 + total_tasks: 6 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 280.60 MB +frame_num: 8141 +frame_range: 10K +dataset_size: 280.60 MB +data_structure: 'Airbot_MMK2_close_doors_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_close_drawer.yaml b/dataset_info/Airbot_MMK2_close_drawer.yaml new file mode 100644 index 0000000000000000000000000000000000000000..678ff586671f8443c140e130f71e0f0e25c38674 --- /dev/null +++ b/dataset_info/Airbot_MMK2_close_drawer.yaml @@ -0,0 +1,471 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_close_drawer +dataset_uuid: 8bd4731e-61f9-48aa-ab5f-eca267261be4 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: layer_transparent_drawer +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Close the top drawer with the hand. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Close the top drawer with the right gripper. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- push +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 7377 + fps: 30 + total_tasks: 3 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 217.38 MB +frame_num: 7377 +frame_range: 10K +dataset_size: 217.38 MB +data_structure: 'Airbot_MMK2_close_drawer_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_close_lid.yaml b/dataset_info/Airbot_MMK2_close_lid.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2b5b6790864cb914db57a2ce82c3826587e558b7 --- /dev/null +++ b/dataset_info/Airbot_MMK2_close_lid.yaml @@ -0,0 +1,479 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_close_lid +dataset_uuid: bc436339-3bc6-4b13-af7a-431a4fe32eed +scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: any_storage_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Close the box lid with the hand. +sub_tasks: +- subtask: Touch the box lid with the left gripper. + subtask_index: 0 +- subtask: Close the box lid with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Touch the box lid with the right gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Close the box lid with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- close +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 239 + total_frames: 28930 + fps: 30 + total_tasks: 7 + total_videos: 956 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 965.27 MB +frame_num: 28930 +frame_range: 100K +dataset_size: 965.27 MB +data_structure: 'Airbot_MMK2_close_lid_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (227 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:238 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_close_the_computer.yaml b/dataset_info/Airbot_MMK2_close_the_computer.yaml new file mode 100644 index 0000000000000000000000000000000000000000..231601191fef135995d1327cae0636fa99610f66 --- /dev/null +++ b/dataset_info/Airbot_MMK2_close_the_computer.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_close_the_computer +dataset_uuid: 5e9fe536-85e9-4e68-b390-51ba7aec5e6b +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: computer +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the computer with the left gripper and close it with the right gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Press the laptop with the left gripper. + subtask_index: 1 +- subtask: drop the laptop with the left gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Close the laptop with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 7754 + fps: 30 + total_tasks: 7 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 320.91 MB +frame_num: 7754 +frame_range: 10K +dataset_size: 320.91 MB +data_structure: 'AIRBOT_MMK2_close_the_computer_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_cover_lid.yaml b/dataset_info/Airbot_MMK2_cover_lid.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3dc1bc7023b727453a1e61f1fafc48c4729f50d4 --- /dev/null +++ b/dataset_info/Airbot_MMK2_cover_lid.yaml @@ -0,0 +1,479 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_cover_lid +dataset_uuid: b18ffa66-79e8-4719-ab17-6c0afad21f6f +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: lid +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the lid with both grippers and cover the box with both grippers. +sub_tasks: +- subtask: Place the lid on the box with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the lid with the right gripper. + subtask_index: 2 +- subtask: Place the lid on the box with the right gripper. + subtask_index: 3 +- subtask: Grasp the lid with the left gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- lift +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 16213 + fps: 30 + total_tasks: 6 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 569.83 MB +frame_num: 16213 +frame_range: 100K +dataset_size: 569.83 MB +data_structure: 'Airbot_MMK2_cover_lid_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_cup_storage.yaml b/dataset_info/Airbot_MMK2_cup_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d58898997a486050cca5cf9b2eaf2130436ff368 --- /dev/null +++ b/dataset_info/Airbot_MMK2_cup_storage.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_cup_storage +dataset_uuid: 4f813d8b-217d-4c36-9698-e2c22c0696ae +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cup +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the blue cup with the left gripper and place it on the plate. Grasp the purple + cup with the right gripper and place it in the blue cup. +sub_tasks: +- subtask: Place the blue cup on the plate with the left gripper. + subtask_index: 0 +- subtask: Place the purple cup on the blue cup with the right gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Grasp the purple cup with the right gripper. + subtask_index: 4 +- subtask: Grasp the blue cup with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 12246 + fps: 30 + total_tasks: 7 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 522.87 MB +frame_num: 12246 +frame_range: 100K +dataset_size: 522.87 MB +data_structure: 'AIRBOT_MMK2_cup_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:47 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_cut_scallion.yaml b/dataset_info/Airbot_MMK2_cut_scallion.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9c6a3ead08b61e015b9267279c0abf5c2204d6df --- /dev/null +++ b/dataset_info/Airbot_MMK2_cut_scallion.yaml @@ -0,0 +1,481 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_cut_scallion +dataset_uuid: ef668a55-165b-4212-893d-2a1fb7beee02 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: kitchen_knife +- object_name: garlic +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the kitchen knife with your hand. Cut the vegetables with your hand. +sub_tasks: +- subtask: Grasp the kitchen knife with the right gripper. + subtask_index: 0 +- subtask: Place the kitchen knife back on the knife holder with the right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Cut scallions with the right gripper. + subtask_index: 3 +- subtask: Press the scallion with the left gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +- cut +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 97 + total_frames: 33460 + fps: 30 + total_tasks: 6 + total_videos: 388 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.17 GB +frame_num: 33460 +frame_range: 100K +dataset_size: 1.17 GB +data_structure: 'Airbot_MMK2_cut_scallion_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (85 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:96 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_desktop_storage.yaml b/dataset_info/Airbot_MMK2_desktop_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2390cf3d481526bbc409b6fa97e6db084e15339b --- /dev/null +++ b/dataset_info/Airbot_MMK2_desktop_storage.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_desktop_storage +dataset_uuid: d50796e5-0306-40cf-8b49-547630740ce6 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: mouse_box +- object_name: calculator_box +- object_name: coffee_cup +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the mouse box on top of the calculator box with the left gripper. Place the + coffee cup on the plate with the right gripper. +sub_tasks: +- subtask: Place the mouse box on the calculator box with the left gripper. + subtask_index: 0 +- subtask: Grasp the coffee with the right gripper. + subtask_index: 1 +- subtask: Grasp the mouse box with the left gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Place the coffee into the plate with the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 13 + total_frames: 3939 + fps: 30 + total_tasks: 7 + total_videos: 52 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 171.00 MB +frame_num: 3939 +frame_range: 10K +dataset_size: 171.00 MB +data_structure: 'AIRBOT_MMK2_desktop_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (1 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:12 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_dial_number.yaml b/dataset_info/Airbot_MMK2_dial_number.yaml new file mode 100644 index 0000000000000000000000000000000000000000..86e172a6cd76bdb48621950806704c6290edb3f2 --- /dev/null +++ b/dataset_info/Airbot_MMK2_dial_number.yaml @@ -0,0 +1,480 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_dial_number +dataset_uuid: 46288cc6-d7a3-4a81-b1c7-776c8fcb4243 +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: mobile_phone +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the phone button with the gripper and then place it down with the gripper. +sub_tasks: +- subtask: Dial the number with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Lift the phone with the right gripper. + subtask_index: 2 +- subtask: Grasp the phone with the right gripper. + subtask_index: 3 +- subtask: Place the phone on the table with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +- press +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 41296 + fps: 30 + total_tasks: 6 + total_videos: 392 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.39 GB +frame_num: 41296 +frame_range: 100K +dataset_size: 1.39 GB +data_structure: 'Airbot_MMK2_dial_number_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_diamond_storage.yaml b/dataset_info/Airbot_MMK2_diamond_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4bf60688660a855607189e0268ea29fc2e01effc --- /dev/null +++ b/dataset_info/Airbot_MMK2_diamond_storage.yaml @@ -0,0 +1,480 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_diamond_storage +dataset_uuid: 07392499-4ada-4393-b1db-c07154012f54 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +- object_name: diamond +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the diamond with the right gripper and place it into the box. Close the + lid with the left gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the diamond ring into the box with the right gripper. + subtask_index: 1 +- subtask: Close the lid of the box with the left gripper. + subtask_index: 2 +- subtask: Grasp the diamond ring with the right gripper. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 9131 + fps: 30 + total_tasks: 5 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 426.78 MB +frame_num: 9131 +frame_range: 10K +dataset_size: 426.78 MB +data_structure: 'AIRBOT_MMK2_diamond_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_doodled_line.yaml b/dataset_info/Airbot_MMK2_doodled_line.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8e8e57fccd43875012384d1d7cff2e516d741aa6 --- /dev/null +++ b/dataset_info/Airbot_MMK2_doodled_line.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_doodled_line +dataset_uuid: c809735b-9a7e-4da8-8989-e4812ce1260a +scene_type: + level1: other + level2: laboratory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: ballpoint_pen +- object_name: square_building_blocks +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the ballpoint pen with the gripper and leave your handwriting on the paper. +sub_tasks: +- subtask: Close the pen swap with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Lift the pen with the right gripper. + subtask_index: 2 +- subtask: Grasp the pen with the right gripper. + subtask_index: 3 +- subtask: Place the pen on the table with the right gripper. + subtask_index: 4 +- subtask: Write on paper with a pen with right gripper. + subtask_index: 5 +- subtask: Open the pen swap with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +- press +- write +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 57693 + fps: 30 + total_tasks: 8 + total_videos: 396 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 2.09 GB +frame_num: 57693 +frame_range: 100K +dataset_size: 2.09 GB +data_structure: 'Airbot_MMK2_doodled_line_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_double-sided_tape_placement.yaml b/dataset_info/Airbot_MMK2_double-sided_tape_placement.yaml new file mode 100644 index 0000000000000000000000000000000000000000..252162419c6433f001b460e1ba3b73171fc1b939 --- /dev/null +++ b/dataset_info/Airbot_MMK2_double-sided_tape_placement.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_double-sided_tape_placement +dataset_uuid: 41460366-02ad-4c55-9db3-7dc79d98681d +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: meinian_da +- object_name: double-sided_tape +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the double-sided tape with the left gripper and place it over the meinianda. + Pick up another double-sided tape with the right gripper and place it over the meinianda. +sub_tasks: +- subtask: Place the transparent circular ring on the right onto the fanta in the + middle with right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the transparent circular ring on the left with the left gripper. + subtask_index: 2 +- subtask: Place the transparent circular ring on the left onto the fanta in the middle + with left gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Grasp the transparent circular ring on the right with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 11452 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 553.82 MB +frame_num: 11452 +frame_range: 100K +dataset_size: 553.82 MB +data_structure: 'AIRBOT_MMK2_double-sided_tape_placement_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_egg_storage.yaml b/dataset_info/Airbot_MMK2_egg_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ad2f6f3ca54ae759d2a592e06784f5f3900a9b1 --- /dev/null +++ b/dataset_info/Airbot_MMK2_egg_storage.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_egg_storage +dataset_uuid: 63a0fe6b-923c-4ac5-9b65-501c2a9b8c99 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bowl +- object_name: egg +- object_name: egg_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the egg on the left into the bowl with the left gripper and the egg on the + right into the bowl with the right gripper. +- Pick up the egg from the table with the right gripper and place it into the egg + box with the right gripper. +sub_tasks: +- subtask: Grasp the egg with the left gripper. + subtask_index: 0 +- subtask: Grasp the egg with the right gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the egg into bowl with the left gripper. + subtask_index: 4 +- subtask: Place the egg into bowl with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 58 + total_frames: 13597 + fps: 30 + total_tasks: 7 + total_videos: 232 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 525.17 MB +frame_num: 13597 +frame_range: 100K +dataset_size: 525.17 MB +data_structure: 'AIRBOT_MMK2_egg_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (46 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:57 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_food_storage.yaml b/dataset_info/Airbot_MMK2_food_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bc2f6ee1035f17effe4673ed47187e1d5a80637a --- /dev/null +++ b/dataset_info/Airbot_MMK2_food_storage.yaml @@ -0,0 +1,550 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_food_storage +dataset_uuid: 9c369848-06e7-404b-b234-c5f7a829f345 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cake +- object_name: ice_cream +- object_name: bowl +- object_name: plate +- object_name: egg +- object_name: egg_box +- object_name: potato +- object_name: grid +- object_name: braised_pork +- object_name: prawns +- object_name: sponge +- object_name: wooden_frame +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cake and ice cream from the table with the left and right grippers, + and then throw them into the bowl and plate with the left and right grippers. +- Pick up the egg on the table with the right gripper and place it into the egg box. + Cover the egg box with the left gripper. +- Place the potato in the left compartment with the left gripper while keeping the + right gripper still. +- Pick up the braised pork on the table with the left gripper and place it in the + plate. Then, pick up the prawns on the table with the right gripper and place them + in the plate. +- Pick up the egg on the table with the left gripper and place it on the plate. Then, + pick up another egg on the table with the right gripper and place it on the plate. +- Pick up the sponge from the plate with the left gripper and place it on the table. + Then, pick up the cake from the table with the right gripper and place it on the + plate. +- Pick up the cake on the left with the left gripper and place it on the wooden rack. + Pick up the cake on the right with the right gripper and place it on the wooden + rack. +sub_tasks: +- subtask: Grasp the cake from the table and with the left gripper. + subtask_index: 0 +- subtask: Place the shrimp into the plate with the right gripper. + subtask_index: 1 +- subtask: Close the lid of the egg storage box with the left gripper. + subtask_index: 2 +- subtask: Place the potato into the left compartment of the storage box with the + left gripper. + subtask_index: 3 +- subtask: Grasp the ice cream with the right gripper. + subtask_index: 4 +- subtask: Place the braised pork in brown sauce into the plate with the left gripper. + subtask_index: 5 +- subtask: Grasp the potato with the left gripper. + subtask_index: 6 +- subtask: Place the cake into the bowl with the left gripper. + subtask_index: 7 +- subtask: Place the egg into the egg storage box with the right gripper. + subtask_index: 8 +- subtask: Grasp the egg with the left gripper. + subtask_index: 9 +- subtask: Place the egg into the plate with the left gripper. + subtask_index: 10 +- subtask: Grasp the egg with the right gripper. + subtask_index: 11 +- subtask: Place the egg into the plate with the right gripper. + subtask_index: 12 +- subtask: Place the cake onto the block toy with the left gripper. + subtask_index: 13 +- subtask: Place the cake onto the block toy with the right gripper. + subtask_index: 14 +- subtask: End. + subtask_index: 15 +- subtask: Place the ice cream into the plate with the right gripper. + subtask_index: 16 +- subtask: Grasp the cake from the table and with the right gripper. + subtask_index: 17 +- subtask: Place the sponge on the table with the left gripper. + subtask_index: 18 +- subtask: Grasp the braised pork in brown sauce with the left gripper. + subtask_index: 19 +- subtask: Grasp the cake with the left gripper. + subtask_index: 20 +- subtask: Static. + subtask_index: 21 +- subtask: Grasp the sponge from the plate and with the left gripper. + subtask_index: 22 +- subtask: Place the cake into the plate with the right gripper. + subtask_index: 23 +- subtask: Abnormal. + subtask_index: 24 +- subtask: Grasp the shrimp with the right gripper. + subtask_index: 25 +- subtask: null. + subtask_index: 26 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 344 + total_frames: 58969 + fps: 30 + total_tasks: 27 + total_videos: 1376 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 2.41 GB +frame_num: 58969 +frame_range: 100K +dataset_size: 2.41 GB +data_structure: 'AIRBOT_MMK2_food_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (332 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:343 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_item_storage.yaml b/dataset_info/Airbot_MMK2_item_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ae95d7cc6c63db2b48eb3c890d41f94057cf3893 --- /dev/null +++ b/dataset_info/Airbot_MMK2_item_storage.yaml @@ -0,0 +1,497 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_item_storage +dataset_uuid: cfed792e-cf1c-4d1f-b6fc-a022e9be4d5e +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: barrel +- object_name: umbrella +- object_name: bottle +- object_name: lid +- object_name: bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the large and small bowls with both your left and right grippers and place + them into the yellow bucket simultaneously. +- Place the umbrella on the white lid with the left gripper, and then place the blue + bottle on the white lid with the right gripper. +sub_tasks: +- subtask: Grasp the umbrella with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the bowl with the right gripper. + subtask_index: 2 +- subtask: Grasp the bowl with the left gripper. + subtask_index: 3 +- subtask: Place the cup into the white basket with the right gripper. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: Place the umbrella into the white basket with the left gripper. + subtask_index: 6 +- subtask: Place the bowl into the yellow basket with the left gripper. + subtask_index: 7 +- subtask: Place the bowl into the yellow basket with the right gripper. + subtask_index: 8 +- subtask: Grasp the cup with the right gripper. + subtask_index: 9 +- subtask: null. + subtask_index: 10 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 72 + total_frames: 18773 + fps: 30 + total_tasks: 11 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 717.27 MB +frame_num: 18773 +frame_range: 100K +dataset_size: 717.27 MB +data_structure: 'AIRBOT_MMK2_item_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (60 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:71 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_lemon_and_orange_storage.yaml b/dataset_info/Airbot_MMK2_lemon_and_orange_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a6a0ac197adaa8711268597b4c5c121d55436c8b --- /dev/null +++ b/dataset_info/Airbot_MMK2_lemon_and_orange_storage.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_lemon_and_orange_storage +dataset_uuid: 0d0b881a-6584-4c86-a5de-2def6bfdaa68 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: lemon +- object_name: compartment +- object_name: orange +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the lemon in the left compartment with the left gripper. Place the orange + in the right compartment with the right gripper. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Static. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the lemon into the left compartment of the storage box with the left + gripper. + subtask_index: 3 +- subtask: Place the orange into the right compartment of the storage box with the + right gripper. + subtask_index: 4 +- subtask: Grasp the lemon with the left gripper. + subtask_index: 5 +- subtask: Grasp the orange with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 29 + total_frames: 8975 + fps: 30 + total_tasks: 8 + total_videos: 116 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 286.78 MB +frame_num: 8975 +frame_range: 10K +dataset_size: 286.78 MB +data_structure: 'AIRBOT_MMK2_lemon_and_orange_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (17 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:28 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_medicine_bottle_storage.yaml b/dataset_info/Airbot_MMK2_medicine_bottle_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d24b9d2e4b5ee1ee7ef7abb5036f7e890490e39 --- /dev/null +++ b/dataset_info/Airbot_MMK2_medicine_bottle_storage.yaml @@ -0,0 +1,488 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_medicine_bottle_storage +dataset_uuid: dd96582f-4eb0-43ad-b486-538898f0f0fe +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: medicine_bottle +- object_name: building_block +- object_name: white_platform +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the medicine bottle with the medicine in the left gripper on the white platform. + Then place the other white medicine bottle in the right gripper on the same white + platform. +sub_tasks: +- subtask: Grasp the white bottle with the left gripper. + subtask_index: 0 +- subtask: Static. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: Grasp the white bottle the right gripper. + subtask_index: 4 +- subtask: Place the white bottle on the white board with the left gripper. + subtask_index: 5 +- subtask: Place the white bottle on the white board with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 16023 + fps: 30 + total_tasks: 8 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 467.83 MB +frame_num: 16023 +frame_range: 100K +dataset_size: 467.83 MB +data_structure: 'AIRBOT_MMK2_medicine_bottle_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_mobile_calculator_box.yaml b/dataset_info/Airbot_MMK2_mobile_calculator_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..662abedccafeaf130bc5e4c9edd52e873060b724 --- /dev/null +++ b/dataset_info/Airbot_MMK2_mobile_calculator_box.yaml @@ -0,0 +1,496 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_mobile_calculator_box +dataset_uuid: 7629d634-2d89-41ad-a722-364a319f374b +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: calculator_box +- object_name: lid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the calculator box from the left side of the table with the left gripper + and pass it to the right gripper, which will then place the calculator box on the + right side of the table with the right gripper. +- Pick up the white lid from the left side of the table with the left gripper and + pass it to the right gripper. Place the white lid on the right side of the table + with the right gripper. +sub_tasks: +- subtask: Grasp the calculator case with left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the calculator case in the center of table with right gripper. + subtask_index: 2 +- subtask: Place the white box in the center of table with right gripper. + subtask_index: 3 +- subtask: Pass the white box to right gripper. + subtask_index: 4 +- subtask: Grasp the yellow book with left gripper. + subtask_index: 5 +- subtask: Place the yellow book in the center of table with right gripper. + subtask_index: 6 +- subtask: Pass the yellow book to right gripper. + subtask_index: 7 +- subtask: Pass the calculator case to right gripper. + subtask_index: 8 +- subtask: Grasp the white box with left gripper. + subtask_index: 9 +- subtask: null. + subtask_index: 10 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 150 + total_frames: 34396 + fps: 30 + total_tasks: 11 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.05 GB +frame_num: 34396 +frame_range: 100K +dataset_size: 1.05 GB +data_structure: 'AIRBOT_MMK2_mobile_calculator_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (138 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:149 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_mobile_car.yaml b/dataset_info/Airbot_MMK2_mobile_car.yaml new file mode 100644 index 0000000000000000000000000000000000000000..427e2b52cbddef1029c49895d0e42823b0f553bc --- /dev/null +++ b/dataset_info/Airbot_MMK2_mobile_car.yaml @@ -0,0 +1,476 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_mobile_car +dataset_uuid: 51dbc118-d1f9-4b26-9b28-98863d08f696 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: car +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Push the yellow car to the right with your left gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Push the toy car from left to right with the left gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- push +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 6897 + fps: 30 + total_tasks: 5 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 175.61 MB +frame_num: 6897 +frame_range: 10K +dataset_size: 175.61 MB +data_structure: 'AIRBOT_MMK2_mobile_car_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_mobile_phone_storage.yaml b/dataset_info/Airbot_MMK2_mobile_phone_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fd9c19b18addb914b9f2cf34ce77c0f2fe0b42c8 --- /dev/null +++ b/dataset_info/Airbot_MMK2_mobile_phone_storage.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_mobile_phone_storage +dataset_uuid: ae74a19b-7e4c-4f10-b378-faa014a9f006 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: mobile_phone +- object_name: calculator_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the mobile phone with the left gripper and place it on the calculator box. + Pick up the mobile phone with the right gripper from the calculator box and place + it on the table. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the telephone on the table with the right gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: Place the telephone on the box with the left gripper. + subtask_index: 3 +- subtask: Grasp the telephone with the left gripper. + subtask_index: 4 +- subtask: Grasp the telephone with the right gripper. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 9492 + fps: 30 + total_tasks: 8 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 496.30 MB +frame_num: 9492 +frame_range: 10K +dataset_size: 496.30 MB +data_structure: 'AIRBOT_MMK2_mobile_phone_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_apple_orange_pomegranate.yaml b/dataset_info/Airbot_MMK2_move_apple_orange_pomegranate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d18e33032bd1412f74f8db90b7a4c0a5abb1ee4c --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_apple_orange_pomegranate.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_apple_orange_pomegranate +dataset_uuid: ef9703fa-5369-43fa-a3ed-56fde7a11362 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: apple +- object_name: pomegranate +- object_name: orange +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Arrange the apples, oranges, and pomegranates neatly with the gripper. +sub_tasks: +- subtask: place the orange on the right side of the table with the right gripper. + subtask_index: 0 +- subtask: Grasp the orange with the right gripper. + subtask_index: 1 +- subtask: place the pomegranate on the middle side of the table with the right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: place the apple on the left side of the table with the left gripper. + subtask_index: 4 +- subtask: Grasp the apple with the left gripper. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: Grasp the pomegranate with the right gripper. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 59 + total_frames: 30023 + fps: 30 + total_tasks: 9 + total_videos: 236 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.09 GB +frame_num: 30023 +frame_range: 100K +dataset_size: 1.09 GB +data_structure: 'Airbot_MMK2_move_apple_orange_pomegranate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (47 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:58 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_block.yaml b/dataset_info/Airbot_MMK2_move_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2ff666c0051d9f3568903d86946a38e8a11255cd --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_block.yaml @@ -0,0 +1,481 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_block +dataset_uuid: 5c6ce769-f3a3-46d6-a489-9a2b9aa83cca +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: square_building_blocks +- object_name: early_education_toys +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the square blocks into the circular toy with the gripper. +sub_tasks: +- subtask: Place the yellow block in the blue circle with the right gripper. + subtask_index: 0 +- subtask: Grasp the yellow block with the left gripper. + subtask_index: 1 +- subtask: Grasp the yellow block with the rightt gripper. + subtask_index: 2 +- subtask: Place the yellow block in the blue circle with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 7264 + fps: 30 + total_tasks: 6 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 300.49 MB +frame_num: 7264 +frame_range: 10K +dataset_size: 300.49 MB +data_structure: 'Airbot_MMK2_move_block_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_block_both_hands.yaml b/dataset_info/Airbot_MMK2_move_block_both_hands.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ae83a6b5a2dc347cfcd3b5a2a803eb3774d02fa4 --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_block_both_hands.yaml @@ -0,0 +1,480 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_block_both_hands +dataset_uuid: f676fec1-7f25-4aa8-96d5-aa31a79977d9 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: square_building_blocks +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the building blocks with both grippers simultaneously and place them on + the blocks with both grippers. +sub_tasks: +- subtask: Place the blue block on top of the red block with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the green block with the right gripper. + subtask_index: 2 +- subtask: Grasp the blue block with the left gripper. + subtask_index: 3 +- subtask: Place the green block on top of the yellow block with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 54 + total_frames: 8888 + fps: 30 + total_tasks: 6 + total_videos: 216 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 388.12 MB +frame_num: 8888 +frame_range: 10K +dataset_size: 388.12 MB +data_structure: 'Airbot_MMK2_move_block_both_hands_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (42 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:53 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_block_gold_bar_models.yaml b/dataset_info/Airbot_MMK2_move_block_gold_bar_models.yaml new file mode 100644 index 0000000000000000000000000000000000000000..90eb85774fbe77cced78147d4f68a2d24cf5382e --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_block_gold_bar_models.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_block_gold_bar_models +dataset_uuid: 8f0091c0-69e1-4ca0-80f9-a7ae390d4a9f +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: eyeglass_case +- object_name: early_education_toys +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the glasses case in the middle of the table with the left gripper. Place the + toy gold bar on the glasses case with the right gripper. +sub_tasks: +- subtask: Place the gold bar on the glasses case with the right gripper. + subtask_index: 0 +- subtask: Grasp the glasses case with the left gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Place the glasses case on the middle of the table with the left gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Grasp the gold bar the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 10703 + fps: 30 + total_tasks: 8 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 434.06 MB +frame_num: 10703 +frame_range: 100K +dataset_size: 434.06 MB +data_structure: 'Airbot_MMK2_move_block_gold_bar_models_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_block_twice.yaml b/dataset_info/Airbot_MMK2_move_block_twice.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9c9e1838a0757559532b18520899eadd56904c2a --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_block_twice.yaml @@ -0,0 +1,481 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_block_twice +dataset_uuid: b75f26bb-735b-4e35-99b2-e8df9f8b04c4 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: rubik's_cube +- object_name: square_building_blocks +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the building blocks on the Rubik's Cube with the left gripper. Pick up the + blocks with the right gripper. +sub_tasks: +- subtask: Grasp the yellow build block with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the yellow build block on the Rubik's Cube with the left gripper. + subtask_index: 2 +- subtask: Place the yellow build block on the table with the right gripper. + subtask_index: 3 +- subtask: Grasp the yellow build block with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 57 + total_frames: 14643 + fps: 30 + total_tasks: 6 + total_videos: 228 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 666.60 MB +frame_num: 14643 +frame_range: 100K +dataset_size: 666.60 MB +data_structure: 'Airbot_MMK2_move_block_twice_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (45 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:56 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_block_wet_wipes.yaml b/dataset_info/Airbot_MMK2_move_block_wet_wipes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c5d8d4be2090092eeb1ac56170482da8f3de7473 --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_block_wet_wipes.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_block_wet_wipes +dataset_uuid: 9d83af62-4547-46a5-8228-bb9f5a0f74e8 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: white_tray +- object_name: arch_building_blocks +- object_name: wet_tissue_paper +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the wet wipes into the white tray with the left gripper. Place the building + blocks into the white tray with the right gripper. +sub_tasks: +- subtask: Place the arched build blocks on the white board with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the wet wipes with the left gripper. + subtask_index: 2 +- subtask: Grasp the arched build blocks with the right gripper. + subtask_index: 3 +- subtask: Place the wet wipes on the white board with the left gripper. + subtask_index: 4 +- subtask: Abnormal. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 60 + total_frames: 15271 + fps: 30 + total_tasks: 7 + total_videos: 240 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 479.18 MB +frame_num: 15271 +frame_range: 100K +dataset_size: 479.18 MB +data_structure: 'Airbot_MMK2_move_block_wet_wipes_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (48 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:59 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_book_front.yaml b/dataset_info/Airbot_MMK2_move_book_front.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4c6585f855eeb159608c31e89568a4770787a803 --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_book_front.yaml @@ -0,0 +1,480 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_book_front +dataset_uuid: 76889c9d-1f69-4822-b205-536409786515 +scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: book +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the book with the left gripper and pass it to the right gripper, then place + it on top of another book with the right gripper. +sub_tasks: +- subtask: Deliver the yellow book from left gripper to right gripper. + subtask_index: 0 +- subtask: Place the yellow book on the white book with the right gripper. + subtask_index: 1 +- subtask: Grasp the yellow book with the left gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 10519 + fps: 30 + total_tasks: 6 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 396.69 MB +frame_num: 10519 +frame_range: 100K +dataset_size: 396.69 MB +data_structure: 'Airbot_MMK2_move_book_front_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_book_right_side.yaml b/dataset_info/Airbot_MMK2_move_book_right_side.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e2549e444c31249d677cda865d0feca46dc66678 --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_book_right_side.yaml @@ -0,0 +1,478 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_book_right_side +dataset_uuid: 9ed7c8c8-72eb-4c06-9bf6-a2e3f326d088 +scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: book +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the book with the left gripper, pass it to the right gripper, and then place + it down with the right gripper. +sub_tasks: +- subtask: Pass the yellow book to right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the yellow book with left gripper. + subtask_index: 2 +- subtask: Place the yellow book in the center of table with right gripper. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 46 + total_frames: 7183 + fps: 30 + total_tasks: 5 + total_videos: 184 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 225.04 MB +frame_num: 7183 +frame_range: 10K +dataset_size: 225.04 MB +data_structure: 'Airbot_MMK2_move_book_right_side_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (34 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:45 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_bottle_tape_measure.yaml b/dataset_info/Airbot_MMK2_move_bottle_tape_measure.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7b7ebab203e7745d0601030dbd06c59f8e7898e9 --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_bottle_tape_measure.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_bottle_tape_measure +dataset_uuid: c3616451-32d4-41c0-a86d-8dc9a90fc41c +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: white_basket +- object_name: water_bottle +- object_name: tape_measure +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the water bottle with the left gripper and the ruler with the right gripper + from the white box. +sub_tasks: +- subtask: Grasp the tape measure with the right gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Grasp the mineral water with the left gripper. + subtask_index: 2 +- subtask: Place the tape measure on the table with the right gripper. + subtask_index: 3 +- subtask: Place the mineral water on the table with the left gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 44 + total_frames: 7786 + fps: 30 + total_tasks: 7 + total_videos: 176 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 235.23 MB +frame_num: 7786 +frame_range: 10K +dataset_size: 235.23 MB +data_structure: 'Airbot_MMK2_move_bottle_tape_measure_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (32 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:43 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_cake.yaml b/dataset_info/Airbot_MMK2_move_cake.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d885b2d654f12dec3fe6098ad43ca1216c616fad --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_cake.yaml @@ -0,0 +1,493 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_cake +dataset_uuid: fbf91d8d-c992-420c-b59a-ffc3bd7ced10 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: shelf +- object_name: cake +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place two cakes on the shelf with each hand respectively. +sub_tasks: +- subtask: Place the ice cream into the plate with the right gripper. + subtask_index: 0 +- subtask: Place the cake onto the block toy with the right gripper. + subtask_index: 1 +- subtask: Grasp the cake with the left gripper. + subtask_index: 2 +- subtask: Place the cake on the yellow cube block with the left gripper. + subtask_index: 3 +- subtask: Place the cake on the blue cube block with the right gripper. + subtask_index: 4 +- subtask: Place the cake onto the block toy with the left gripper. + subtask_index: 5 +- subtask: Grasp the cake with the right gripper. + subtask_index: 6 +- subtask: Static. + subtask_index: 7 +- subtask: Grasp the cake from the table and with the right gripper. + subtask_index: 8 +- subtask: Grasp the cake from the table and with the left gripper. + subtask_index: 9 +- subtask: End. + subtask_index: 10 +- subtask: null. + subtask_index: 11 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 94 + total_frames: 22873 + fps: 30 + total_tasks: 12 + total_videos: 376 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1009.39 MB +frame_num: 22873 +frame_range: 100K +dataset_size: 1009.39 MB +data_structure: 'Airbot_MMK2_move_cake_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (82 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:93 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_cake_tape_measure.yaml b/dataset_info/Airbot_MMK2_move_cake_tape_measure.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3dc7dd717dba89be4d8d3e47f71214544f6a5722 --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_cake_tape_measure.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_cake_tape_measure +dataset_uuid: 0145cf50-539b-4695-bbaf-b76e0c3cecfc +scene_type: + level1: other + level2: courier_station + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cake +- object_name: paper_boxes +- object_name: tape_measure +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cake and tape measure with both grippers. Place them on the cardboard + box with both grippers. +sub_tasks: +- subtask: Grasp the tape measure with the right gripper. + subtask_index: 0 +- subtask: Place the bagged waffle on the carton with the left gripper. + subtask_index: 1 +- subtask: Grasp the bagged waffle with the left gripper. + subtask_index: 2 +- subtask: Place the tape measure on the carton with the right gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 9381 + fps: 30 + total_tasks: 6 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 362.07 MB +frame_num: 9381 +frame_range: 10K +dataset_size: 362.07 MB +data_structure: 'Airbot_MMK2_move_cake_tape_measure_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_cup_paper_box.yaml b/dataset_info/Airbot_MMK2_move_cup_paper_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9c34b4dda028c72fc923bf83907521c3910a309c --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_cup_paper_box.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_cup_paper_box +dataset_uuid: 027cb79a-c963-4801-b617-5e9673950225 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: paper_boxes +- object_name: pink_plate +- object_name: coffee cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the paper box on the paper box with the left gripper. Place the coffee cup + on the plate with the right gripper. +sub_tasks: +- subtask: Grasp the mouse box with the left gripper. + subtask_index: 0 +- subtask: Place the mouse box on the calculator box with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the coffee cup with the right gripper. + subtask_index: 3 +- subtask: Place the coffee cup on the white plate with the right gripper. + subtask_index: 4 +- subtask: Place the coffee cup on the pink plate with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 93 + total_frames: 25588 + fps: 30 + total_tasks: 7 + total_videos: 372 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 929.21 MB +frame_num: 25588 +frame_range: 100K +dataset_size: 929.21 MB +data_structure: 'Airbot_MMK2_move_cup_paper_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (81 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:92 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_fake_food.yaml b/dataset_info/Airbot_MMK2_move_fake_food.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4baf7a2881df464e97d4eb82cef0417c343897b6 --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_fake_food.yaml @@ -0,0 +1,477 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_fake_food +dataset_uuid: 25d0c571-2d77-452e-b50c-95104b62ef46 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: early_education_toys +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the toy food on the toy table with the right gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the small bowl of canned food with right gripper. + subtask_index: 1 +- subtask: Place the small bowl of canned food on the table with the right gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 7610 + fps: 30 + total_tasks: 5 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 313.65 MB +frame_num: 7610 +frame_range: 10K +dataset_size: 313.65 MB +data_structure: 'Airbot_MMK2_move_fake_food_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_medicine_bottle.yaml b/dataset_info/Airbot_MMK2_move_medicine_bottle.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e4465b228c5f79bc1a25920c37f4d9ac2b93df9a --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_medicine_bottle.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_medicine_bottle +dataset_uuid: 1ac761d0-db14-4cb1-9126-7d82c8c2bcc0 +scene_type: + level1: medical + level2: pharmacy + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: medicine_bottle +- object_name: board +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the medicine bottles on the table and then onto the board with both grippers. +sub_tasks: +- subtask: Place the white bottle on the white board with the right gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Grasp the white bottle with the left gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Grasp the white bottle the right gripper. + subtask_index: 5 +- subtask: Place the white bottle on the white board with the left gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 16815 + fps: 30 + total_tasks: 8 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 493.22 MB +frame_num: 16815 +frame_range: 100K +dataset_size: 493.22 MB +data_structure: 'Airbot_MMK2_move_medicine_bottle_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_pan.yaml b/dataset_info/Airbot_MMK2_move_pan.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b42457583b70e510f7204df31fafa55f059227c7 --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_pan.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_pan +dataset_uuid: 85e0b841-b0c2-4289-a026-8b341bb5bca4 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: pan +- object_name: square_building_blocks +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Push the pan to the edge of the table with the left gripper. Place it on the building + block with the right gripper. +sub_tasks: +- subtask: Grasp the frying pan with the right gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Place the frying pan on the red cube block with the right gripper. + subtask_index: 2 +- subtask: Push the frying pan on left to right with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- push +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 14881 + fps: 30 + total_tasks: 6 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 764.08 MB +frame_num: 14881 +frame_range: 100K +dataset_size: 764.08 MB +data_structure: 'Airbot_MMK2_move_pan_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:47 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_paper_box.yaml b/dataset_info/Airbot_MMK2_move_paper_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3f33acc5d13eb0504a256f68405c8c3f80ac31a9 --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_paper_box.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_paper_box +dataset_uuid: 52ec39e3-1fff-47d8-b59a-a70e10a7f212 +scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: paper_box +- object_name: white_lid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cardboard box with both grippers and place it on the lid with both grippers. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the phone case box on the white lid with the right gripper. + subtask_index: 1 +- subtask: Grasp the mouse box with the left gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: Static. + subtask_index: 4 +- subtask: Grasp the phone case box with the right gripper. + subtask_index: 5 +- subtask: Place the mouse box on the white lid with the left gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 5070 + fps: 30 + total_tasks: 8 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 190.01 MB +frame_num: 5070 +frame_range: 10K +dataset_size: 190.01 MB +data_structure: 'Airbot_MMK2_move_paper_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_phone_twice.yaml b/dataset_info/Airbot_MMK2_move_phone_twice.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d8e663bcee029bc719055478d25bc8cb540693c --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_phone_twice.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_phone_twice +dataset_uuid: a87f0421-4254-42fb-8e01-2e1ba2d0e671 +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: mobile_phone +- object_name: paper_boxes +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the mobile phone on the box with the left gripper. Pick it up off the box + with the right gripper. +sub_tasks: +- subtask: Grasp the telephone with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Place the telephone on the box with the left gripper. + subtask_index: 3 +- subtask: Static. + subtask_index: 4 +- subtask: Grasp the telephone with the left gripper. + subtask_index: 5 +- subtask: Place the telephone on the table with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 9795 + fps: 30 + total_tasks: 8 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 512.24 MB +frame_num: 9795 +frame_range: 10K +dataset_size: 512.24 MB +data_structure: 'Airbot_MMK2_move_phone_twice_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_sword_doll.yaml b/dataset_info/Airbot_MMK2_move_sword_doll.yaml new file mode 100644 index 0000000000000000000000000000000000000000..741922a500b7b490c7979c08f40052ec953c7f2c --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_sword_doll.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_sword_doll +dataset_uuid: e9a7580b-ccb0-4f87-b26e-b655f7d12072 +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: white_basket +- object_name: shark_doll +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the shark doll on the white box with the gripper. +sub_tasks: +- subtask: Place the shark dagger on the white basket with the right gripper. + subtask_index: 0 +- subtask: Grasp the shark dagger with the left gripper. + subtask_index: 1 +- subtask: Place the shark dagger on the white basket with the left gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: Grasp the shark dagger with the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- lift +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 5383 + fps: 30 + total_tasks: 7 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 226.27 MB +frame_num: 5383 +frame_range: 10K +dataset_size: 226.27 MB +data_structure: 'Airbot_MMK2_move_sword_doll_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:47 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_tennis_racket_ball.yaml b/dataset_info/Airbot_MMK2_move_tennis_racket_ball.yaml new file mode 100644 index 0000000000000000000000000000000000000000..88f1070e3fc68845a33dd012fe39343c40bda001 --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_tennis_racket_ball.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_tennis_racket_ball +dataset_uuid: c65f0b7e-ce3f-4f98-ad3b-daa1763f3bab +scene_type: + level1: other + level2: leisure_plaza + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: tennis_racket +- object_name: ball +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the racket with the left gripper, place the ball on the racket with the + right gripper, and then place the racket down. +sub_tasks: +- subtask: Lift the racket with the left gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Place the ball on the racket with the right gripper. + subtask_index: 2 +- subtask: Place the racket on the table with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Grasp the racket with the left gripper. + subtask_index: 5 +- subtask: Grasp the ball with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 10833 + fps: 30 + total_tasks: 8 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 455.14 MB +frame_num: 10833 +frame_range: 100K +dataset_size: 455.14 MB +data_structure: 'Airbot_MMK2_move_tennis_racket_ball_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:47 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_tub.yaml b/dataset_info/Airbot_MMK2_move_tub.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1396735584cd2d4dec4ec1293774cca51202d288 --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_tub.yaml @@ -0,0 +1,478 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_tub +dataset_uuid: e11a8b93-b2b1-4df9-9f42-0ec47d628374 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pass the plate to the right gripper with the left gripper and then place it down + with the left gripper. +sub_tasks: +- subtask: Grasp the white box with left gripper. + subtask_index: 0 +- subtask: Place the white box in the center of table with right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Pass the white box to right gripper. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 37 + total_frames: 11634 + fps: 30 + total_tasks: 5 + total_videos: 148 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 340.34 MB +frame_num: 11634 +frame_range: 100K +dataset_size: 340.34 MB +data_structure: 'Airbot_MMK2_move_tub_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (25 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:36 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_move_umbrella_tissues.yaml b/dataset_info/Airbot_MMK2_move_umbrella_tissues.yaml new file mode 100644 index 0000000000000000000000000000000000000000..06e8aab5e6beb7ce1b729ddaa4c0d3e96556551e --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_umbrella_tissues.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_move_umbrella_tissues +dataset_uuid: ddc045a6-0de7-41d8-9da4-876879cf21b8 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: tissue_box +- object_name: umbrella +- object_name: lid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the umbrella and tissues on the lid with the gripper. +sub_tasks: +- subtask: Grasp the umbrella with the left gripper. + subtask_index: 0 +- subtask: Grasp the tissue with the right gripper. + subtask_index: 1 +- subtask: Place the tissue on the white lid with the right gripper. + subtask_index: 2 +- subtask: Place the umbrella on the white lid with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 8709 + fps: 30 + total_tasks: 6 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 327.67 MB +frame_num: 8709 +frame_range: 10K +dataset_size: 327.67 MB +data_structure: 'Airbot_MMK2_move_umbrella_tissues_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_open_door_left.yaml b/dataset_info/Airbot_MMK2_open_door_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..41942910f293a0413d2e1ece767ce43777d38853 --- /dev/null +++ b/dataset_info/Airbot_MMK2_open_door_left.yaml @@ -0,0 +1,473 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_open_door_left +dataset_uuid: 9cc3db80-3ea1-4757-907c-925f32615c04 +scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cabinet +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the cabinet with the gripper. +sub_tasks: +- subtask: Touch the door with the left gripper. + subtask_index: 0 +- subtask: Open the door with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- open +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 6418 + fps: 30 + total_tasks: 4 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 188.64 MB +frame_num: 6418 +frame_range: 10K +dataset_size: 188.64 MB +data_structure: 'Airbot_MMK2_open_door_left_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_open_door_right.yaml b/dataset_info/Airbot_MMK2_open_door_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..13144b9c9b5e4cceeeadaf9b9b7ace4b134e10ee --- /dev/null +++ b/dataset_info/Airbot_MMK2_open_door_right.yaml @@ -0,0 +1,477 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_open_door_right +dataset_uuid: 416f7665-dfce-4ba0-998d-aad1bce37019 +scene_type: + level1: other + level2: laboratory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cabinet +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the cabinet with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Open the door with the right gripper. + subtask_index: 1 +- subtask: Touch the door handle with the right gripper. + subtask_index: 2 +- subtask: Touch the door with the right gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- open +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 31753 + fps: 30 + total_tasks: 6 + total_videos: 392 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.03 GB +frame_num: 31753 +frame_range: 100K +dataset_size: 1.03 GB +data_structure: 'Airbot_MMK2_open_door_right_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_open_laptop.yaml b/dataset_info/Airbot_MMK2_open_laptop.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c4639e5984568ab6f00b7a415b85334932c55b9d --- /dev/null +++ b/dataset_info/Airbot_MMK2_open_laptop.yaml @@ -0,0 +1,480 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_open_laptop +dataset_uuid: 6d721559-56e0-4fc9-8e7c-8037cd238e24 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: laptop +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Press the laptop with the right gripper and then open it with the left gripper. +sub_tasks: +- subtask: Press the laptop with the right gripper. + subtask_index: 0 +- subtask: Open the laptop with the left gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: drop the laptop with the right gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Grasp the laptop with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- open +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 11734 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 432.73 MB +frame_num: 11734 +frame_range: 100K +dataset_size: 432.73 MB +data_structure: 'Airbot_MMK2_open_laptop_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_open_lid.yaml b/dataset_info/Airbot_MMK2_open_lid.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5a6fa8f69cdce1ec37ee998d4d1be01a2633fe94 --- /dev/null +++ b/dataset_info/Airbot_MMK2_open_lid.yaml @@ -0,0 +1,481 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_open_lid +dataset_uuid: 864f6279-4ca8-45a2-ad13-ffb7cbae4a46 +scene_type: + level1: other + level2: laboratory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the lid of the box with both grippers. +sub_tasks: +- subtask: Open the box lid with the right gripper. + subtask_index: 0 +- subtask: Touch the box lid with the left gripper. + subtask_index: 1 +- subtask: Press the box with the left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Open the box lid with the left gripper. + subtask_index: 4 +- subtask: Touch the box lid with the right gripper. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- open +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 198 + total_frames: 28684 + fps: 30 + total_tasks: 8 + total_videos: 792 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 974.56 MB +frame_num: 28684 +frame_range: 100K +dataset_size: 974.56 MB +data_structure: 'Airbot_MMK2_open_lid_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (186 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:197 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_open_notebook.yaml b/dataset_info/Airbot_MMK2_open_notebook.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6b9a62d2c3b994b490c2488569a6fab1e033f406 --- /dev/null +++ b/dataset_info/Airbot_MMK2_open_notebook.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_open_notebook +dataset_uuid: f7156fc6-87bb-4662-b1ff-9cf8de2c4742 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: notebook +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Press the bottom right corner of the notebook with the right gripper. Open the notebook + with the left gripper. +sub_tasks: +- subtask: Static. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: drop the laptop with the right gripper. + subtask_index: 2 +- subtask: Press the laptop with the right gripper. + subtask_index: 3 +- subtask: Open the laptop with the left gripper. + subtask_index: 4 +- subtask: Grasp the laptop with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- open +robot_name: Airbot_MMK2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 11734 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 432.27 MB +frame_num: 11734 +frame_range: 100K +dataset_size: 432.27 MB +data_structure: 'AIRBOT_MMK2_open_notebook_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_organize_and_place_books.yaml b/dataset_info/Airbot_MMK2_organize_and_place_books.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9c3c56acf3de735d8c925962cb5797968932f761 --- /dev/null +++ b/dataset_info/Airbot_MMK2_organize_and_place_books.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_organize_and_place_books +dataset_uuid: 6782c838-a0d2-4a8e-a50b-cc092bb2a215 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: book +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the book from the table with the left gripper and pass it to the right gripper. + Pick up the book with the right gripper and place it on another book with the right + gripper. +sub_tasks: +- subtask: Place the yellow book on the white book with the right gripper. + subtask_index: 0 +- subtask: Static. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Deliver the yellow book from left gripper to right gripper. + subtask_index: 3 +- subtask: Grasp the yellow book with the left gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 9838 + fps: 30 + total_tasks: 6 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 372.09 MB +frame_num: 9838 +frame_range: 10K +dataset_size: 372.09 MB +data_structure: 'AIRBOT_MMK2_organize_and_place_books_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:47 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_organize_books.yaml b/dataset_info/Airbot_MMK2_organize_books.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1d0295033fa9dd174f95b0ee737357868ac5673 --- /dev/null +++ b/dataset_info/Airbot_MMK2_organize_books.yaml @@ -0,0 +1,481 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_organize_books +dataset_uuid: b36aed44-2805-4713-8d48-a14bebf79671 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: book +- object_name: bookshelf +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the book on the table with the right gripper. Place it into the bookshelf + with the right gripper. +sub_tasks: +- subtask: Static. + subtask_index: 0 +- subtask: Grasp the yellow book with the right gripper. + subtask_index: 1 +- subtask: Place the yellow book into the front mezzanine of the bookshelf with the + right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 9576 + fps: 30 + total_tasks: 5 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 439.63 MB +frame_num: 9576 +frame_range: 10K +dataset_size: 439.63 MB +data_structure: 'AIRBOT_MMK2_organize_books_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_organize_plate.yaml b/dataset_info/Airbot_MMK2_organize_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a2239f51171600c7a9f4d3893ea7c7af921a397c --- /dev/null +++ b/dataset_info/Airbot_MMK2_organize_plate.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_organize_plate +dataset_uuid: 0fc8c7aa-b897-4a14-ae2a-16e5f9b39933 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: round_plate +- object_name: storage_rack +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the stacked plates on the table with both grippers. Place them onto the shelf + with both grippers. +sub_tasks: +- subtask: Press the plate with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the plate into the front mezzanine of the shelf with the right gripper. + subtask_index: 2 +- subtask: Press the plate and push it to the right with the left gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Place the plate into the middle mezzanine of the shelf with the right gripper. + subtask_index: 5 +- subtask: Grasp the plate with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 595 + total_frames: 338107 + fps: 30 + total_tasks: 8 + total_videos: 2380 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 14.21 GB +frame_num: 338107 +frame_range: 1M +dataset_size: 14.21 GB +data_structure: 'Airbot_MMK2_organize_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (583 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:594 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_pass_paper_box.yaml b/dataset_info/Airbot_MMK2_pass_paper_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..08164f73cae85ca673896b6b6fcca538de9372da --- /dev/null +++ b/dataset_info/Airbot_MMK2_pass_paper_box.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_pass_paper_box +dataset_uuid: aeba7ae4-265f-49c1-890a-4d6b4d092e95 +scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: paper_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the book with the left gripper, hand it to the right gripper, and then place + it down with the right gripper. +sub_tasks: +- subtask: Place the mouse box on the white lid with the left gripper. + subtask_index: 0 +- subtask: Grasp the calculator case with left gripper. + subtask_index: 1 +- subtask: Place the phone case box on the white lid with the right gripper. + subtask_index: 2 +- subtask: Grasp the mouse box with the left gripper. + subtask_index: 3 +- subtask: Grasp the phone case box with the right gripper. + subtask_index: 4 +- subtask: Pass the calculator case to right gripper. + subtask_index: 5 +- subtask: Place the calculator case in the center of table with right gripper. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 46 + total_frames: 8948 + fps: 30 + total_tasks: 9 + total_videos: 184 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 306.64 MB +frame_num: 8948 +frame_range: 10K +dataset_size: 306.64 MB +data_structure: 'Airbot_MMK2_pass_paper_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (34 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:45 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_perpare_tea.yaml b/dataset_info/Airbot_MMK2_perpare_tea.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8d8c69b69333900265434fb8accfdee327f3930c --- /dev/null +++ b/dataset_info/Airbot_MMK2_perpare_tea.yaml @@ -0,0 +1,491 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_perpare_tea +dataset_uuid: c5dd0b3e-7d2b-4b2e-95db-4c51aef38cba +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: small_teapot +- object_name: inner_pot_of_the_teapot +- object_name: tea_canister +- object_name: tea +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the tea leaves from the tea canister with the right gripper and place them + into the inner pot of the teapot. Place the inner pot of the teapot into the teapot + with the left gripper and then close the lid of the teapot with the left gripper. + into the inner pot of the teapot. with the left hand, put the inner pot of the teapot + into the teapot and then close the lid of the teapot. +sub_tasks: +- subtask: Place the tea leaves into the tea strainer with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Close the teapot lid with the left gripper. + subtask_index: 2 +- subtask: Grasp the tea strainer with the left gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Place the tea strainer into the teapot with the left gripper. + subtask_index: 5 +- subtask: Grasp the tea leaves with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 89 + total_frames: 70954 + fps: 30 + total_tasks: 8 + total_videos: 356 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 2.99 GB +frame_num: 70954 +frame_range: 100K +dataset_size: 2.99 GB +data_structure: 'Airbot_MMK2_prepare_tea_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (77 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:88 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_pick_up_and_place_tub.yaml b/dataset_info/Airbot_MMK2_pick_up_and_place_tub.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d64a50dd5a7106987e951b8bbcb8ae5fc74300b0 --- /dev/null +++ b/dataset_info/Airbot_MMK2_pick_up_and_place_tub.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_pick_up_and_place_tub +dataset_uuid: c1cd5a37-481c-43c5-99c2-328faeb64390 +scene_type: + level1: household + level2: bathroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: washbasin +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the washbasin with the gripper and place it down. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Lift the basin with the left gripper. + subtask_index: 1 +- subtask: Grasp the basin with the left gripper. + subtask_index: 2 +- subtask: Grasp the basin with the right gripper. + subtask_index: 3 +- subtask: Place basin on the table with the right gripper. + subtask_index: 4 +- subtask: Place basin on the table with the left gripper. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: Lift the basin with the right gripper. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 16632 + fps: 30 + total_tasks: 9 + total_videos: 392 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 607.48 MB +frame_num: 16632 +frame_range: 100K +dataset_size: 607.48 MB +data_structure: 'Airbot_MMK2_pick_up_and_place_tub_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_place_cookies_and_beer.yaml b/dataset_info/Airbot_MMK2_place_cookies_and_beer.yaml new file mode 100644 index 0000000000000000000000000000000000000000..72b5a8611a98b6efc862e0a638d2a46d86d4ace6 --- /dev/null +++ b/dataset_info/Airbot_MMK2_place_cookies_and_beer.yaml @@ -0,0 +1,483 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_place_cookies_and_beer +dataset_uuid: a380537f-44a3-457c-8113-67604aec65a7 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: biscuit +- object_name: lid +- object_name: beer_mug +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the biscuit on the table with the left gripper and place it in the white + lid. Place the beer glass from the table into the white lid with the right gripper. +sub_tasks: +- subtask: Grasp the bagged cookies with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the beer mug with the right gripper. + subtask_index: 2 +- subtask: Place the bagged cookies on the white basket with the left gripper. + subtask_index: 3 +- subtask: Place the beer mug on the white basket with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 10519 + fps: 30 + total_tasks: 6 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 515.08 MB +frame_num: 10519 +frame_range: 100K +dataset_size: 515.08 MB +data_structure: 'AIRBOT_MMK2_place_cookies_and_beer_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_place_the_basin.yaml b/dataset_info/Airbot_MMK2_place_the_basin.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b8d88ff19097bcd7628db896e374d6fac89e3f8c --- /dev/null +++ b/dataset_info/Airbot_MMK2_place_the_basin.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_place_the_basin +dataset_uuid: 14a514fa-2a43-4b79-bcf6-c7d01e427623 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basin +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the basin on the table with both grippers simultaneously. Pick it up and then + place it down with both grippers. +sub_tasks: +- subtask: Static. + subtask_index: 0 +- subtask: Place the basin on the table with the right gripper. + subtask_index: 1 +- subtask: Grasp the basin with the right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Lift the basin with the left gripper. + subtask_index: 4 +- subtask: Grasp the basin with the left gripper. + subtask_index: 5 +- subtask: Lift the basin with the right gripper. + subtask_index: 6 +- subtask: Place the basin on the table with the left gripper. + subtask_index: 7 +- subtask: Abnormal. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 7672 + fps: 30 + total_tasks: 10 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 272.90 MB +frame_num: 7672 +frame_range: 10K +dataset_size: 272.90 MB +data_structure: 'AIRBOT_MMK2_place_the_basin_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_place_the_blue_and_purple_blocks.yaml b/dataset_info/Airbot_MMK2_place_the_blue_and_purple_blocks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ac086aedaca42fba77a3434dae8fda37aacf25cc --- /dev/null +++ b/dataset_info/Airbot_MMK2_place_the_blue_and_purple_blocks.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_place_the_blue_and_purple_blocks +dataset_uuid: 515b60a8-59ef-485b-bd22-34f963fd853c +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: square +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the purple cube with the left gripper and place it on the plate. Pick up + the blue cube on the table and place it on top of the purple cube. +sub_tasks: +- subtask: Grasp the purple cube block with the left gripper. + subtask_index: 0 +- subtask: Grasp the blue cube block with the right gripper. + subtask_index: 1 +- subtask: Place the purple cube block on the plate with the left gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Place the blue cube block on the purple cube block with the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 10277 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 502.09 MB +frame_num: 10277 +frame_range: 100K +dataset_size: 502.09 MB +data_structure: 'AIRBOT_MMK2_place_the_blue_and_purple_blocks_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_place_the_books.yaml b/dataset_info/Airbot_MMK2_place_the_books.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c9077ed89170b877ff031397ecba1cb5a1e50f3f --- /dev/null +++ b/dataset_info/Airbot_MMK2_place_the_books.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_place_the_books +dataset_uuid: e4617854-ddc2-4d6e-b108-2369485a9167 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: book +- object_name: bookshelf +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Push the book to the left side of the table with the right gripper, and pick it + up with the left gripper to place it on the bookshelf. +sub_tasks: +- subtask: Push the book from right to left with the right gripper. + subtask_index: 0 +- subtask: Grasp the book with the left gripper. + subtask_index: 1 +- subtask: Place the book into the front mezzanine of the bookshelf with the left + gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Abnormal. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +- push +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 20564 + fps: 30 + total_tasks: 7 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.06 GB +frame_num: 20564 +frame_range: 100K +dataset_size: 1.06 GB +data_structure: 'AIRBOT_MMK2_place_the_books_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_place_the_building_blocks.yaml b/dataset_info/Airbot_MMK2_place_the_building_blocks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..29a2e920cbdbb522a032210b210284266aa3038c --- /dev/null +++ b/dataset_info/Airbot_MMK2_place_the_building_blocks.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_place_the_building_blocks +dataset_uuid: e309be0e-14ed-4d1a-bef2-0a030776d5f6 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: building_block +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the red building blocks into the plate on the table with the left gripper. + Place the green building blocks into the plate with the right gripper. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Place the green cuboid block into the plate with the right gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: Grasp the red cuboid block with the left gripper. + subtask_index: 3 +- subtask: Place the red cuboid block into the plate with the left gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Grasp the green cuboid block with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- open +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 43 + total_frames: 14173 + fps: 30 + total_tasks: 8 + total_videos: 172 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 455.53 MB +frame_num: 14173 +frame_range: 100K +dataset_size: 455.53 MB +data_structure: 'AIRBOT_MMK2_place_the_building_blocks_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (31 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:42 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_place_the_cake.yaml b/dataset_info/Airbot_MMK2_place_the_cake.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6c60d28fb2a02b66a5db1a3f846af94dc7e44e0c --- /dev/null +++ b/dataset_info/Airbot_MMK2_place_the_cake.yaml @@ -0,0 +1,527 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_place_the_cake +dataset_uuid: 9dd9223d-2d05-47a8-bfd0-0884a7f571ed +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cake +- object_name: plate +- object_name: building_blocks +- object_name: ice_cream +- object_name: small_basin +- object_name: lid +- object_name: swiss_roll +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cake with the left gripper and place it on the plate. Then, pick up + the cake from the plate with the right gripper and place it on the table. +- Pick up the cake on the table with the left gripper and place it on the yellow cube. + Then, pick up another cake on the table with the right gripper and place it on the + blue cube. +- Pick up the ice cream with the left gripper and place it in the small white basin. + Then, pick up another ice cream with the right gripper and place it in the small + white basin. +- Pick up the cake on the table with the left gripper and place it in the white lid. + Then, pick up the ice cream on the table with the right gripper and place it in + the white lid. Finally, pick up another cake on the table with the left gripper + and place it in the white lid. +- Pick up the Swiss roll with the left gripper and place it on the plate. Then, pick + up another Swiss roll with the right gripper and place it on the plate. +sub_tasks: +- subtask: Place the cake on the yellow cube block with the left gripper. + subtask_index: 0 +- subtask: Grasp the bagged cake with the left gripper. + subtask_index: 1 +- subtask: Grasp the cake on the plate with the right gripper. + subtask_index: 2 +- subtask: Place the cake on the table with the right gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: Grasp the cake with the left gripper. + subtask_index: 6 +- subtask: Place the ice cream into the white basket with the right gripper. + subtask_index: 7 +- subtask: Place the cake into the white basket with the left gripper. + subtask_index: 8 +- subtask: Place the ice cream into the white basket with the left gripper. + subtask_index: 9 +- subtask: Grasp the ice cream with the right gripper. + subtask_index: 10 +- subtask: Grasp the ice cream with the left gripper. + subtask_index: 11 +- subtask: Grasp the bagged cake with the right gripper. + subtask_index: 12 +- subtask: Place the cake into the white plate with the left gripper. + subtask_index: 13 +- subtask: Place the bagged cake on the white plate with the left gripper. + subtask_index: 14 +- subtask: End. + subtask_index: 15 +- subtask: Grasp the cake with the right gripper. + subtask_index: 16 +- subtask: Place the bagged cake on the white plate with the right gripper. + subtask_index: 17 +- subtask: Place the cake on the blue cube block with the right gripper. + subtask_index: 18 +- subtask: null. + subtask_index: 19 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 249 + total_frames: 50001 + fps: 30 + total_tasks: 20 + total_videos: 996 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 2.26 GB +frame_num: 50001 +frame_range: 100K +dataset_size: 2.26 GB +data_structure: 'AIRBOT_MMK2_place_the_cake_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (237 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:248 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_place_the_glasses_case_and_gold_bars.yaml b/dataset_info/Airbot_MMK2_place_the_glasses_case_and_gold_bars.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f3140c38236d23af22e3e14c79cc55186ab20d24 --- /dev/null +++ b/dataset_info/Airbot_MMK2_place_the_glasses_case_and_gold_bars.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_place_the_glasses_case_and_gold_bars +dataset_uuid: fc8bbdff-5847-4a9e-b1c1-634bab1b4ed7 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: glasses_case +- object_name: gold_bar +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the glasses case in the middle of the table with the left gripper. Place the + gold bar on the glasses case with the right gripper. +sub_tasks: +- subtask: Place the glasses case on the middle of the table with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: Place the gold bar on the glasses case with the right gripper. + subtask_index: 3 +- subtask: Grasp the glasses case with the left gripper. + subtask_index: 4 +- subtask: Grasp the gold bar the right gripper. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 10180 + fps: 30 + total_tasks: 8 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 412.69 MB +frame_num: 10180 +frame_range: 100K +dataset_size: 412.69 MB +data_structure: 'AIRBOT_MMK2_place_the_glasses_case_and_gold_bars_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_place_the_network_cable_and_mouse_box.yaml b/dataset_info/Airbot_MMK2_place_the_network_cable_and_mouse_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..08e8b1416ea51070dcbeeb966e69bcc1c377dc9a --- /dev/null +++ b/dataset_info/Airbot_MMK2_place_the_network_cable_and_mouse_box.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_place_the_network_cable_and_mouse_box +dataset_uuid: 0d29b561-c4c2-4fde-ac84-230716315d3f +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: mouse_box +- object_name: network_cable +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the mouse box into the box with the left gripper. Then, place the blue network + cable into the box with the right gripper. +sub_tasks: +- subtask: Grasp the blue network cable with the right gripper. + subtask_index: 0 +- subtask: Place the blue network cable into carton with the right gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: Grasp the mouse box with the left gripper. + subtask_index: 3 +- subtask: Place the mouse box into carton with the left gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 46 + total_frames: 11195 + fps: 30 + total_tasks: 8 + total_videos: 184 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 473.61 MB +frame_num: 11195 +frame_range: 100K +dataset_size: 473.61 MB +data_structure: 'AIRBOT_MMK2_place_the_network_cable_and_mouse_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (34 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:45 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_place_the_paper_drawer.yaml b/dataset_info/Airbot_MMK2_place_the_paper_drawer.yaml new file mode 100644 index 0000000000000000000000000000000000000000..25faed5a55072df43546a8cec77092d0e0e9c273 --- /dev/null +++ b/dataset_info/Airbot_MMK2_place_the_paper_drawer.yaml @@ -0,0 +1,670 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_place_the_paper_drawer +dataset_uuid: 36dde00a-6af9-43ec-9c49-3b938ff6f736 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pallet +- object_name: tissue_paper +- object_name: calculator_box +- object_name: power_bank_box +- object_name: lid +- object_name: mineral_water_bottle +- object_name: tape_measure +- object_name: snacks +- object_name: cake +- object_name: croissant +- object_name: apple +- object_name: peach +- object_name: pear +- object_name: pomegranate +- object_name: orange +- object_name: beverage +- object_name: coffee +- object_name: building_blocks +- object_name: marble +- object_name: toy_car +- object_name: frying_pan +- object_name: mouse_box +- object_name: shark_dagger +- object_name: sponge +- object_name: bowl +- object_name: steel_frame +- object_name: red_cube +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up a pack of tissue paper from the white tray with the left gripper and place + it on the table. Then, pick up a pack of tissue paper from the white tray with the + right gripper and place it on the table. +- Pick up the calculator box with the left gripper and the power bank box with the + right gripper. Place the left gripper first, followed by the right gripper. +- Pick up the mineral water bottle on the white lid with the left gripper and place + it on the table. Then, pick up the tape measure on the white lid with the right + gripper and place it on the table. +- Grasp the snacks with the left gripper and the tape measure with the right gripper, + and place them on the platform at the same time. +- Place the apple on the left with the left gripper, and then place the peach in the + middle with the left gripper. Finally, place the pear on the right side with the + right gripper. +- Place the apple on the left with the left gripper. Place the pomegranate in the + middle with the right gripper. Finally, place the orange on the right with the right + gripper. +- Pick up the beverage from the white lid with the left gripper and place it on the + table. Then, pick up the coffee cup from the white lid with the right gripper and + place it on the table. +- Pick up the cake from the plate with the left gripper and place it on the table. + Then, pick up the coissant from the table with the right gripper and place it on + the plate. +- Pick up the building blocks from the plate with the left gripper and place them + on the table. Then, pick up the marble from the plate with the right gripper and + place it on the table. +- Pick up the green car from the plate with the left gripper and place it on the table. + Then, pick up the yellow car from the plate with the right gripper and place it + on the table. +- Push the pan to the right side of the table with the left gripper. Place it on the + red cube with the right gripper. +- Pick up the mouse box with the left gripper off the white cover, and then pick up + the calculator box with the right gripper off the white cover. +- Pick up the shark dagger on the table and place it on the white lid with both grippers. +- Pick up the sponge from the white lid with the left gripper and place it on the + table. Then, pick up the bowl from the white lid with the right gripper and place + it on the table. +- Pick up the steel frame with both grippers and place it on the table with both grippers. +sub_tasks: +- subtask: Place the pomegranate on the middle of the table with the right gripper. + subtask_index: 0 +- subtask: Place the steel tube on the table with the left gripper. + subtask_index: 1 +- subtask: Grasp the bowl on the white basket and with the right gripper. + subtask_index: 2 +- subtask: Grasp the green rectangular block on the plate with the left gripper. + subtask_index: 3 +- subtask: Place the mineral water on the table with the left gripper. + subtask_index: 4 +- subtask: Place the bagged waffle on the carton with the left gripper. + subtask_index: 5 +- subtask: Place the green rectangular block on the table with the left gripper. + subtask_index: 6 +- subtask: Grasp the tape measure with the right gripper. + subtask_index: 7 +- subtask: Grasp the tissue on the white lid with the left gripper. + subtask_index: 8 +- subtask: Grasp the vitamin B water on the white lid with the left gripper. + subtask_index: 9 +- subtask: Place the shark dagger on the white basket with the right gripper. + subtask_index: 10 +- subtask: Place the tape measure on the table with the right gripper. + subtask_index: 11 +- subtask: Place the tissue on the table with the right gripper. + subtask_index: 12 +- subtask: Place the sponge on the table with the left gripper. + subtask_index: 13 +- subtask: Grasp the apple with the left gripper. + subtask_index: 14 +- subtask: Place the apple on the left side of the table with the left gripper. + subtask_index: 15 +- subtask: Grasp the pear with the right gripper. + subtask_index: 16 +- subtask: Place the pear on the right side of the table with the right gripper. + subtask_index: 17 +- subtask: Place the calculator box into the storage box with the right gripper. + subtask_index: 18 +- subtask: Grasp the coffee on the white lid with the right gripper. + subtask_index: 19 +- subtask: Grasp the bread with the right gripper. + subtask_index: 20 +- subtask: Grasp the frying pan with the right gripper. + subtask_index: 21 +- subtask: Grasp the phone case box with the left gripper. + subtask_index: 22 +- subtask: Place the calculator box into the storage box with the left gripper. + subtask_index: 23 +- subtask: Grasp the mouse box on the white lid and with the left gripper. + subtask_index: 24 +- subtask: Grasp the orange with the right gripper. + subtask_index: 25 +- subtask: Place the bowl on the table with the right gripper. + subtask_index: 26 +- subtask: Grasp the pomegranate with the right gripper. + subtask_index: 27 +- subtask: Grasp the tissue on the white lid with the right gripper. + subtask_index: 28 +- subtask: Place the coffee on the table with the right gripper. + subtask_index: 29 +- subtask: Place the bread into the plate with the right gripper. + subtask_index: 30 +- subtask: Grasp the calculator box with the left gripper. + subtask_index: 31 +- subtask: Abnormal. + subtask_index: 32 +- subtask: Grasp the steel tube on the cube block with the right gripper. + subtask_index: 33 +- subtask: Place the vitamin B water on the table with the left gripper. + subtask_index: 34 +- subtask: Grasp the toy car on the plate and with the right gripper. + subtask_index: 35 +- subtask: Grasp the peach with the left gripper. + subtask_index: 36 +- subtask: Place the tape measure on the carton with the right gripper. + subtask_index: 37 +- subtask: Place the phone case box into the storage box with the right gripper. + subtask_index: 38 +- subtask: Grasp the cake on the plate with the left gripper. + subtask_index: 39 +- subtask: Place the phone case box into the storage box with the left gripper. + subtask_index: 40 +- subtask: Grasp the toy car on the plate and with the left gripper. + subtask_index: 41 +- subtask: Grasp the calculator box on the white lid and with the right gripper. + subtask_index: 42 +- subtask: Grasp the shark dagger with the left gripper. + subtask_index: 43 +- subtask: Grasp the bagged waffle with the left gripper. + subtask_index: 44 +- subtask: Grasp the mineral water with the left gripper. + subtask_index: 45 +- subtask: Place the pomegranate on the middle of the table with the left gripper. + subtask_index: 46 +- subtask: Grasp the sponge on the white basket and with the left gripper. + subtask_index: 47 +- subtask: Place the peach on the middle of the table with the left gripper. + subtask_index: 48 +- subtask: Place the shark dagger on the white basket with the left gripper. + subtask_index: 49 +- subtask: Push the frying pan on left to right with the left gripper. + subtask_index: 50 +- subtask: Place the steel tube on the table with the right gripper. + subtask_index: 51 +- subtask: End. + subtask_index: 52 +- subtask: Place the tissue on the table with the left gripper. + subtask_index: 53 +- subtask: Grasp the phone case box with the right gripper. + subtask_index: 54 +- subtask: Place the orange on the right side of the table with the right gripper. + subtask_index: 55 +- subtask: Grasp the shark dagger with the right gripper. + subtask_index: 56 +- subtask: Place the cake on the table with the left gripper. + subtask_index: 57 +- subtask: Place the toy car on the table with the left gripper. + subtask_index: 58 +- subtask: Place the toy car on the table with the right gripper. + subtask_index: 59 +- subtask: Grasp the steel tube on the cube block with the left gripper. + subtask_index: 60 +- subtask: Place the calculator box on the table with the right gripper. + subtask_index: 61 +- subtask: Place the mouse box on the table with the left gripper. + subtask_index: 62 +- subtask: Grasp the bullet on the plate with the right gripper. + subtask_index: 63 +- subtask: Place the frying pan on the red cube block with the right gripper. + subtask_index: 64 +- subtask: Place the coffee on the table with the left gripper. + subtask_index: 65 +- subtask: Grasp the calculator box with the right gripper. + subtask_index: 66 +- subtask: Static. + subtask_index: 67 +- subtask: Place the bullet on the table with the right gripper. + subtask_index: 68 +- subtask: null. + subtask_index: 69 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 688 + total_frames: 167196 + fps: 30 + total_tasks: 70 + total_videos: 2752 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 5.83 GB +frame_num: 167196 +frame_range: 1M +dataset_size: 5.83 GB +data_structure: 'AIRBOT_MMK2_place_the_paper_drawer_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (676 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:687 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_place_the_piano_and_the_needle-nose_pliers.yaml b/dataset_info/Airbot_MMK2_place_the_piano_and_the_needle-nose_pliers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a498a528f0ce72e8c1f3c08a5a100a33d41245a2 --- /dev/null +++ b/dataset_info/Airbot_MMK2_place_the_piano_and_the_needle-nose_pliers.yaml @@ -0,0 +1,488 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_place_the_piano_and_the_needle-nose_pliers +dataset_uuid: 230992b4-bba2-4f5b-99ce-03e63d148ce1 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: hand_tapping_the_qin +- object_name: lid +- object_name: long-nose_pliers +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the hand tapping the qin with the left gripper and place it on the white + lid. Then, pick up the long-nose pliers with the right gripper and place them on + the white lid. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Static. + subtask_index: 1 +- subtask: Place the tongs on the white lid with the right gripper. + subtask_index: 2 +- subtask: Grasp the tongs with the right gripper. + subtask_index: 3 +- subtask: Place the xylophone on the white lid with the left gripper. + subtask_index: 4 +- subtask: Grasp the xylophone with the left gripper. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 25318 + fps: 30 + total_tasks: 8 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 826.77 MB +frame_num: 25318 +frame_range: 100K +dataset_size: 826.77 MB +data_structure: 'AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_place_the_pliers_and_wallpaper_knife.yaml b/dataset_info/Airbot_MMK2_place_the_pliers_and_wallpaper_knife.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c859d3c2d31addf9a5dd3de0dfa498e6f8300ef --- /dev/null +++ b/dataset_info/Airbot_MMK2_place_the_pliers_and_wallpaper_knife.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_place_the_pliers_and_wallpaper_knife +dataset_uuid: dc1abf9a-1c9d-43f0-bf5f-2c0f52365a88 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pliers +- object_name: lid +- object_name: utility_knife +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the pliers with the left gripper and place them in the white lid. Then, + with the right gripper, pick up the utility knife and place it in the white lid. +sub_tasks: +- subtask: Static. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the utility knife into white basket with the right gripper. + subtask_index: 2 +- subtask: Place the plier into white basket with the left gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Grasp the plier with the left gripper. + subtask_index: 5 +- subtask: Grasp the utility knife with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 8236 + fps: 30 + total_tasks: 8 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 230.12 MB +frame_num: 8236 +frame_range: 10K +dataset_size: 230.12 MB +data_structure: 'AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_place_the_shark_toys_and_gold_bars.yaml b/dataset_info/Airbot_MMK2_place_the_shark_toys_and_gold_bars.yaml new file mode 100644 index 0000000000000000000000000000000000000000..be32f85a7e9d20aaa263b914fa6498275c32b8cc --- /dev/null +++ b/dataset_info/Airbot_MMK2_place_the_shark_toys_and_gold_bars.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_place_the_shark_toys_and_gold_bars +dataset_uuid: 23b13e76-788e-4ea3-a624-4007f8eaa57e +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: shark_doll +- object_name: gold_bar +- object_name: paper_box_lid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the shark doll with the left gripper and place it into the lid of the paper + box. Then, pick up the gold bar with the right gripper and place it into the lid + of the paper box. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the whale on the paper box with the left gripper. + subtask_index: 1 +- subtask: Place the gold bar on the paper box with the right gripper. + subtask_index: 2 +- subtask: Grasp the whale with the left gripper. + subtask_index: 3 +- subtask: Static. + subtask_index: 4 +- subtask: Grasp the gold bar with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 6486 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 276.99 MB +frame_num: 6486 +frame_range: 10K +dataset_size: 276.99 MB +data_structure: 'AIRBOT_MMK2_place_the_shark_toys_and_gold_bars_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_place_the_small_bowl_of_canned_food.yaml b/dataset_info/Airbot_MMK2_place_the_small_bowl_of_canned_food.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e16e9bc221ddb3eb93360cd6fd50f8345aecbf6 --- /dev/null +++ b/dataset_info/Airbot_MMK2_place_the_small_bowl_of_canned_food.yaml @@ -0,0 +1,480 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_place_the_small_bowl_of_canned_food +dataset_uuid: a9c7e711-c375-4aa9-8ce2-93c6f016b80d +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: mini_table +- object_name: small_bowl_of_canned_food +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the mini bowl of canned food from the table with the right gripper and place + it on the mini table with the right gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Place the small bowl of canned food on the table with the right gripper. + subtask_index: 2 +- subtask: Grasp the small bowl of canned food with right gripper. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 7610 + fps: 30 + total_tasks: 5 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 313.48 MB +frame_num: 7610 +frame_range: 10K +dataset_size: 313.48 MB +data_structure: 'AIRBOT_MMK2_place_the_small_bowl_of_canned_food_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_place_the_sponge_and_wet_wipes.yaml b/dataset_info/Airbot_MMK2_place_the_sponge_and_wet_wipes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3daaca9e5d01304cb45f081aa25c3fe55162bc75 --- /dev/null +++ b/dataset_info/Airbot_MMK2_place_the_sponge_and_wet_wipes.yaml @@ -0,0 +1,500 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_place_the_sponge_and_wet_wipes +dataset_uuid: ce41bab0-f121-49df-b55f-742a8e05ec09 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: sponge +- object_name: wet_wipes +- object_name: plate +- object_name: mouse_box +- object_name: charging_power_bank_box +- object_name: lid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the sponge and wet wipes from the table with both grippers, and place them + in the white tray with both grippers. +- Pick up the mouse box and the power bank box on the table with both grippers simultaneously. + Place them into the white lid with both grippers. +sub_tasks: +- subtask: Grasp the sponge with the left gripper. + subtask_index: 0 +- subtask: Place the sponge into the white basket with the left gripper. + subtask_index: 1 +- subtask: Grasp the mouse box with the left gripper. + subtask_index: 2 +- subtask: Place the wet wipes into the white basket with the right gripper. + subtask_index: 3 +- subtask: Grasp the wet wipes with the right gripper. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: Place the mouse box on the white lid with the left gripper. + subtask_index: 7 +- subtask: Grasp the phone case box with the right gripper. + subtask_index: 8 +- subtask: Place the phone case box on the white lid with the right gripper. + subtask_index: 9 +- subtask: Abnormal. + subtask_index: 10 +- subtask: null. + subtask_index: 11 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 90 + total_frames: 10033 + fps: 30 + total_tasks: 12 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 390.96 MB +frame_num: 10033 +frame_range: 100K +dataset_size: 390.96 MB +data_structure: 'AIRBOT_MMK2_place_the_sponge_and_wet_wipes_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (78 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:89 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_place_the_umbrella_and_the_ruler.yaml b/dataset_info/Airbot_MMK2_place_the_umbrella_and_the_ruler.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6c3d739a2ec17d8bb2f5801d08d38d59e6442b89 --- /dev/null +++ b/dataset_info/Airbot_MMK2_place_the_umbrella_and_the_ruler.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_place_the_umbrella_and_the_ruler +dataset_uuid: 327b6447-3184-4211-985a-d0c2d279758c +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: umbrella +- object_name: lid +- object_name: tape_measure +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the small umbrella with the left gripper and place it in the white lid. + Then, pick up the tape measure with the right gripper and place it in the white + lid. +sub_tasks: +- subtask: Grasp the umbrella with the left gripper. + subtask_index: 0 +- subtask: Grasp the tape measure with the right gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the tape measure in the white basket with the right gripper. + subtask_index: 4 +- subtask: Place the umbrella in the white basket with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 42 + total_frames: 7298 + fps: 30 + total_tasks: 7 + total_videos: 168 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 242.52 MB +frame_num: 7298 +frame_range: 10K +dataset_size: 242.52 MB +data_structure: 'AIRBOT_MMK2_place_the_umbrella_and_the_ruler_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (30 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:41 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_place_the_yellow_block.yaml b/dataset_info/Airbot_MMK2_place_the_yellow_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f71353884a55e6a7e2ade379688b383000b63982 --- /dev/null +++ b/dataset_info/Airbot_MMK2_place_the_yellow_block.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_place_the_yellow_block +dataset_uuid: 5627f996-6a84-4ee5-942f-6a546d68645f +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: square_block +- object_name: rubiks_cube +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the yellow square block on the table with the left gripper. Pick up the yellow + square block from the Rubik's cube with the right gripper and place it on the table. +sub_tasks: +- subtask: Static. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Grasp the yellow block with left gripper. + subtask_index: 3 +- subtask: Grasp the yellow block on the magic cube with right gripper. + subtask_index: 4 +- subtask: Place the yellow block on the magic cube with left gripper. + subtask_index: 5 +- subtask: Place the yellow block on the table with right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 10030 + fps: 30 + total_tasks: 8 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 501.39 MB +frame_num: 10030 +frame_range: 100K +dataset_size: 501.39 MB +data_structure: 'AIRBOT_MMK2_place_the_yellow_block_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_play_guitar.yaml b/dataset_info/Airbot_MMK2_play_guitar.yaml new file mode 100644 index 0000000000000000000000000000000000000000..edaf63670d3b1f1081f0d45787d716fb3034894b --- /dev/null +++ b/dataset_info/Airbot_MMK2_play_guitar.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_play_guitar +dataset_uuid: 3bff2956-68ff-4321-b368-7b8844029b12 +scene_type: + level1: education + level2: after-school_tutoring_center + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: block +- object_name: guitar +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the guitar with the left gripper, play it with the right gripper, and then + place it down with the left gripper. +sub_tasks: +- subtask: Lift the ukulele with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Play ukulele with the right gripper. + subtask_index: 2 +- subtask: Grasp the ukulele with the left gripper. + subtask_index: 3 +- subtask: Place the ukulele on the table with the left gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 94 + total_frames: 23327 + fps: 30 + total_tasks: 6 + total_videos: 376 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 944.73 MB +frame_num: 23327 +frame_range: 100K +dataset_size: 944.73 MB +data_structure: 'Airbot_MMK2_play_guitar_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (82 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:93 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_play_the_guitar.yaml b/dataset_info/Airbot_MMK2_play_the_guitar.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d17daa1f35b05ffbeb08175cfa4f93ce0dd01efa --- /dev/null +++ b/dataset_info/Airbot_MMK2_play_the_guitar.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_play_the_guitar +dataset_uuid: cd4b25f6-e84e-4877-95e0-0c865e5b92a6 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: little_guitar +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the small guitar with the left gripper, pluck the strings with the right gripper, + and then place the small guitar down with the left gripper. +sub_tasks: +- subtask: Play ukulele with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the ukulele on the table with the left gripper. + subtask_index: 2 +- subtask: Lift the ukulele with the left gripper. + subtask_index: 3 +- subtask: Grasp the ukulele with the left gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +- pull +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 8574 + fps: 30 + total_tasks: 6 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 360.33 MB +frame_num: 8574 +frame_range: 10K +dataset_size: 360.33 MB +data_structure: 'AIRBOT_MMK2_play_the_guitar_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:47 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_play_toy_piano.yaml b/dataset_info/Airbot_MMK2_play_toy_piano.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2eb7cd3e96b66624795da2217ae9ba5e12c9bc89 --- /dev/null +++ b/dataset_info/Airbot_MMK2_play_toy_piano.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_play_toy_piano +dataset_uuid: 14f143b9-df79-41b6-866c-78a5d5571142 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: toy_piano +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the piano in the middle with the left gripper. Play the piano with the right + gripper. +sub_tasks: +- subtask: Play the toy piano with the right gripper. + subtask_index: 0 +- subtask: Place the toy piano on the table with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the toy piano with the left gripper. + subtask_index: 3 +- subtask: Lift the toy piano with the left gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +- press +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 7683 + fps: 30 + total_tasks: 6 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 230.18 MB +frame_num: 7683 +frame_range: 10K +dataset_size: 230.18 MB +data_structure: 'Airbot_MMK2_play_toy_piano_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_potato_storage.yaml b/dataset_info/Airbot_MMK2_potato_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0afb4bc722f596806dbacaf0b3336a947f597448 --- /dev/null +++ b/dataset_info/Airbot_MMK2_potato_storage.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_potato_storage +dataset_uuid: 8fcf234f-ff14-4dc4-9bae-a32238fde9ed +scene_type: + level1: household + level2: restaurant + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: potato +- object_name: compartment +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the potato in the right compartment with the right gripper. +- Place the potatoes in the left compartment with the left gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the potato into the left compartment of the storage box with the + left gripper. + subtask_index: 1 +- subtask: Grasp the potato with the left gripper. + subtask_index: 2 +- subtask: Place the potato into the right compartment of the storage box with the + right gripper. + subtask_index: 3 +- subtask: Grasp the potato with the right gripper. + subtask_index: 4 +- subtask: Abnormal. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 6958 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 252.48 MB +frame_num: 6958 +frame_range: 10K +dataset_size: 252.48 MB +data_structure: 'AIRBOT_MMK2_potato_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_pour_BBs.yaml b/dataset_info/Airbot_MMK2_pour_BBs.yaml new file mode 100644 index 0000000000000000000000000000000000000000..836d264c43448b8a7956f37af02b820089e3c0bb --- /dev/null +++ b/dataset_info/Airbot_MMK2_pour_BBs.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_pour_BBs +dataset_uuid: 6a396572-9a1c-44ac-b622-1af54a32325c +scene_type: + level1: lab + level2: laboratory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: paper_cup +- object_name: bowl +- object_name: bullet +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the paper cup with the gripper and pour the bullets inside into the bowl. +sub_tasks: +- subtask: Grasp the paper cup containing bullets with right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Pour the bullets from the paper cup into the bowl with right gripper. + subtask_index: 4 +- subtask: Place the paper cup on the table with right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 19529 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 726.24 MB +frame_num: 19529 +frame_range: 100K +dataset_size: 726.24 MB +data_structure: 'Airbot_MMK2_pour_BBs_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_pour_out_the_beauty_blender.yaml b/dataset_info/Airbot_MMK2_pour_out_the_beauty_blender.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c37eb0f837d620e14c393a94055f555e8b518d9 --- /dev/null +++ b/dataset_info/Airbot_MMK2_pour_out_the_beauty_blender.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_pour_out_the_beauty_blender +dataset_uuid: 9bd6999e-de56-4b21-b103-e3054f98d4ef +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: marble +- object_name: cup +- object_name: bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cup with the right gripper and pour the marble inside the bowl with + the right gripper. +sub_tasks: +- subtask: Place the paper cup on the table with right gripper. + subtask_index: 0 +- subtask: Pour the bullets from the paper cup into the bowl with right gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: Grasp the paper cup containing bullets with right gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Abnormal. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 17577 + fps: 30 + total_tasks: 7 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 652.52 MB +frame_num: 17577 +frame_range: 100K +dataset_size: 652.52 MB +data_structure: 'AIRBOT_MMK2_pour_out_the_beauty_blender_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_pull_plunger.yaml b/dataset_info/Airbot_MMK2_pull_plunger.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bf43ee42bc53aeb4418110230ea2a826410d0187 --- /dev/null +++ b/dataset_info/Airbot_MMK2_pull_plunger.yaml @@ -0,0 +1,483 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_pull_plunger +dataset_uuid: e954021a-74e4-49f6-b9cf-e073fd73ea0d +scene_type: + level1: medical + level2: hospital + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: syringe +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the syringe with the left gripper and pull the piston with the right gripper. +sub_tasks: +- subtask: Lift the syringe with the left gripper. + subtask_index: 0 +- subtask: Pull the piston with the right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the syringe with the left gripper. + subtask_index: 3 +- subtask: Grasp the piston with the right gripper. + subtask_index: 4 +- subtask: Place the syringe on the table with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +- pull +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 97 + total_frames: 26077 + fps: 30 + total_tasks: 7 + total_videos: 388 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1002.58 MB +frame_num: 26077 +frame_range: 100K +dataset_size: 1002.58 MB +data_structure: 'Airbot_MMK2_pull_plunger_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (85 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:96 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_pull_the_syringe_piston.yaml b/dataset_info/Airbot_MMK2_pull_the_syringe_piston.yaml new file mode 100644 index 0000000000000000000000000000000000000000..19f7abc8dbc09aacc59f071448dc0927c03cfd42 --- /dev/null +++ b/dataset_info/Airbot_MMK2_pull_the_syringe_piston.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_pull_the_syringe_piston +dataset_uuid: 0dd7afd0-0119-4a2d-a6bf-0eff2463b0bd +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: syringe +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the syringe with the left gripper, pull the piston away with the right gripper, + and then place the syringe back on the table with the left gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the syringe with the left gripper. + subtask_index: 1 +- subtask: Pull the piston with the right gripper. + subtask_index: 2 +- subtask: Lift the syringe with the left gripper. + subtask_index: 3 +- subtask: Grasp the piston with the right gripper. + subtask_index: 4 +- subtask: Place the syringe on the table with the left gripper. + subtask_index: 5 +- subtask: Static. + subtask_index: 6 +- subtask: Abnormal. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 9990 + fps: 30 + total_tasks: 9 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 473.95 MB +frame_num: 9990 +frame_range: 10K +dataset_size: 473.95 MB +data_structure: 'AIRBOT_MMK2_pull_the_syringe_piston_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_pull_tissue.yaml b/dataset_info/Airbot_MMK2_pull_tissue.yaml new file mode 100644 index 0000000000000000000000000000000000000000..234acdba0f40cded94972fd2d364049b1a283e3f --- /dev/null +++ b/dataset_info/Airbot_MMK2_pull_tissue.yaml @@ -0,0 +1,480 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_pull_tissue +dataset_uuid: b1e9713b-f448-49c8-a1f9-6343f4e8d805 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: tissue_paper +- object_name: tissue_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up a tissue paper out of the tissue box with the hand. +sub_tasks: +- subtask: Place the tissue on the table with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Pull out a piece of tissue with the right gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: Grasp the a piece of tissue with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 11531 + fps: 30 + total_tasks: 6 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 405.81 MB +frame_num: 11531 +frame_range: 100K +dataset_size: 405.81 MB +data_structure: 'Airbot_MMK2_pull_tissue_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_pumpkin_storage.yaml b/dataset_info/Airbot_MMK2_pumpkin_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cccb3f6e491d693f19017ef689878b50ba66b681 --- /dev/null +++ b/dataset_info/Airbot_MMK2_pumpkin_storage.yaml @@ -0,0 +1,483 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_pumpkin_storage +dataset_uuid: 591a516b-5f33-44ad-aa8a-b9b96c17194d +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pumpkin +- object_name: cubicle +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Throw the pumpkin into the right compartment with the right gripper, while keeping + the left gripper still. +sub_tasks: +- subtask: Static. + subtask_index: 0 +- subtask: Grasp the pumpkin with the right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the pumpkin into the right compartment of the storage box. + subtask_index: 3 +- subtask: Place the pumpkin into the right compartment of the storage box with the + right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 12358 + fps: 30 + total_tasks: 6 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 462.95 MB +frame_num: 12358 +frame_range: 100K +dataset_size: 462.95 MB +data_structure: 'AIRBOT_MMK2_pumpkin_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_push_away_book.yaml b/dataset_info/Airbot_MMK2_push_away_book.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bee883aa28bf1a02e3a7a4886bcc5ffde96d1287 --- /dev/null +++ b/dataset_info/Airbot_MMK2_push_away_book.yaml @@ -0,0 +1,476 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_push_away_book +dataset_uuid: 22c1bf14-b960-4bfb-a178-6329d38f04be +scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: book +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pull out the book with the hand. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Lay the book down with the right gripper. + subtask_index: 2 +- subtask: grasp the book with the right gripper. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 244 + total_frames: 36575 + fps: 30 + total_tasks: 5 + total_videos: 976 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.40 GB +frame_num: 36575 +frame_range: 100K +dataset_size: 1.40 GB +data_structure: 'Airbot_MMK2_push_away_book_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (232 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:243 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_push_building_blocks.yaml b/dataset_info/Airbot_MMK2_push_building_blocks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..636bc1717b366b276b620e45d118687b73b34fe6 --- /dev/null +++ b/dataset_info/Airbot_MMK2_push_building_blocks.yaml @@ -0,0 +1,488 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_push_building_blocks +dataset_uuid: 6428216e-f07b-4971-8ba9-ac3162e1d2b0 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: building_blocks +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Push the cylindrical block to the right of the cubic block with the right gripper. +- Push the dark blue and yellow blocks to the upper right corner below the arched + block with the right gripper. +- Push the arched block upwards with the right gripper. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Move the green cylinder to the right side of the box with right gripper. + subtask_index: 1 +- subtask: Move the yellow cube to the upper right side of the box with right gripper. + subtask_index: 2 +- subtask: Move the orange cylinder to the right side of the box with right gripper. + subtask_index: 3 +- subtask: Static. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Move the wooden arched building blocks to the upper right side of the box + with right gripper. + subtask_index: 6 +- subtask: Move the blue cube to the upper right side of the box with right gripper. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- push +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 139 + total_frames: 40790 + fps: 30 + total_tasks: 9 + total_videos: 556 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.64 GB +frame_num: 40790 +frame_range: 100K +dataset_size: 1.64 GB +data_structure: 'AIRBOT_MMK2_push_building_blocks_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (127 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:138 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_push_piston.yaml b/dataset_info/Airbot_MMK2_push_piston.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0909b8c7fe5de0179f1e4082aabd86d65e088a6f --- /dev/null +++ b/dataset_info/Airbot_MMK2_push_piston.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_push_piston +dataset_uuid: eef01bf4-6600-4121-9501-b7651d8e26c5 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: syringe +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the syringe on the table with the left gripper. Push the plunger with the + right gripper. +sub_tasks: +- subtask: Static. + subtask_index: 0 +- subtask: Push the piston with the right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the syringe with the left gripper. + subtask_index: 3 +- subtask: Grasp the piston with the right gripper. + subtask_index: 4 +- subtask: Place the syringe on the table with the left gripper. + subtask_index: 5 +- subtask: Lift the syringe with the left gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 15278 + fps: 30 + total_tasks: 8 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 598.26 MB +frame_num: 15278 +frame_range: 100K +dataset_size: 598.26 MB +data_structure: 'AIRBOT_MMK2_push_piston_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_push_plunger.yaml b/dataset_info/Airbot_MMK2_push_plunger.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d41785717597d0fc7f5a8c8c148e7a30aeba69c3 --- /dev/null +++ b/dataset_info/Airbot_MMK2_push_plunger.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_push_plunger +dataset_uuid: 9a0ada18-4710-445e-8d65-7382fbc35757 +scene_type: + level1: medical + level2: hospital + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: syringe +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the syringe with the left gripper, then push it back with the right gripper, + and finally lower it with the left gripper. +sub_tasks: +- subtask: Lift the syringe with the left gripper. + subtask_index: 0 +- subtask: Push the piston with the right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the syringe with the left gripper. + subtask_index: 3 +- subtask: Grasp the piston with the right gripper. + subtask_index: 4 +- subtask: Place the syringe on the table with the left gripper. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +- push +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 147 + total_frames: 47091 + fps: 30 + total_tasks: 8 + total_videos: 588 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.65 GB +frame_num: 47091 +frame_range: 100K +dataset_size: 1.65 GB +data_structure: 'Airbot_MMK2_push_plunger_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (135 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:146 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_push_toy_car.yaml b/dataset_info/Airbot_MMK2_push_toy_car.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4c60c823c36b407288978a24b40f509915a15dcc --- /dev/null +++ b/dataset_info/Airbot_MMK2_push_toy_car.yaml @@ -0,0 +1,476 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_push_toy_car +dataset_uuid: 1872d0f2-3819-4b1a-8ade-d10d50a740ab +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: toy_car +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Push the toy car with the hand. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Static. + subtask_index: 1 +- subtask: Push the toy car from left to right with the left gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- push +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 6897 + fps: 30 + total_tasks: 5 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 175.84 MB +frame_num: 6897 +frame_range: 10K +dataset_size: 175.84 MB +data_structure: 'Airbot_MMK2_push_toy_car_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_remove_lid.yaml b/dataset_info/Airbot_MMK2_remove_lid.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9200b0d674d169fe0fa40add955b5ffda92c925a --- /dev/null +++ b/dataset_info/Airbot_MMK2_remove_lid.yaml @@ -0,0 +1,481 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_remove_lid +dataset_uuid: 2f9ad5ac-c131-4d19-81ee-44f40e214304 +scene_type: + level1: other + level2: laboratory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: lid +- object_name: table +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the lid of the foam box with the gripper. +sub_tasks: +- subtask: Place the lid of the foam box on the table with your left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the lid of the foam box with your left gripper. + subtask_index: 2 +- subtask: Grasp the lid of the foam box with your right gripper. + subtask_index: 3 +- subtask: Place the lid of the foam box on the table with your right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- lift +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 11589 + fps: 30 + total_tasks: 6 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 403.44 MB +frame_num: 11589 +frame_range: 100K +dataset_size: 403.44 MB +data_structure: 'Airbot_MMK2_remove_lid_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_remove_pen_cap.yaml b/dataset_info/Airbot_MMK2_remove_pen_cap.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5ed24686f6baba6f85b6a5147cacff350027a609 --- /dev/null +++ b/dataset_info/Airbot_MMK2_remove_pen_cap.yaml @@ -0,0 +1,481 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_remove_pen_cap +dataset_uuid: 1fb5e3cd-8b5e-424d-8a76-320c2f453cd7 +scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: pen +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the pen with the gripper, remove the cap, and place it down with the gripper. +sub_tasks: +- subtask: Place the pen cap on the table with the right gripper. + subtask_index: 0 +- subtask: Grasp the pen tightly with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the pen on the table with the left gripper. + subtask_index: 3 +- subtask: Remove the pen cap with the right gripper. + subtask_index: 4 +- subtask: Lift the pen with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 41147 + fps: 30 + total_tasks: 7 + total_videos: 400 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.52 GB +frame_num: 41147 +frame_range: 100K +dataset_size: 1.52 GB +data_structure: 'Airbot_MMK2_remove_pen_cap_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_rotate_cube_face.yaml b/dataset_info/Airbot_MMK2_rotate_cube_face.yaml new file mode 100644 index 0000000000000000000000000000000000000000..150e7d625e0501bae1e3585bc29512763e8756b1 --- /dev/null +++ b/dataset_info/Airbot_MMK2_rotate_cube_face.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_rotate_cube_face +dataset_uuid: 06598466-9ad1-4af4-aa53-a265b7d23f9e +scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: rubik's_cube +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the Rubik's cube with the left gripper, rotate it once with the right gripper, + and then place it down with the left gripper. +sub_tasks: +- subtask: Adjust the rubik's cube with the left gripper. + subtask_index: 0 +- subtask: Grasp the rubik's cube with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the rubik's cube on the table with the left gripper. + subtask_index: 3 +- subtask: Move the rightmost combination block of the rubik's cube with the right + gripper. + subtask_index: 4 +- subtask: Abnormal. + subtask_index: 5 +- subtask: Lift up the rubik's cube with the left gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +- flip +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 145 + total_frames: 55057 + fps: 30 + total_tasks: 8 + total_videos: 580 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 2.13 GB +frame_num: 55057 +frame_range: 100K +dataset_size: 2.13 GB +data_structure: 'Airbot_MMK2_rotate_cube_face_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (133 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:144 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_screw_the_bottle_cap.yaml b/dataset_info/Airbot_MMK2_screw_the_bottle_cap.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e749ac8d0eefcebb460089ca74253acc1d651a6a --- /dev/null +++ b/dataset_info/Airbot_MMK2_screw_the_bottle_cap.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_screw_the_bottle_cap +dataset_uuid: 311c08d2-fc43-43ec-afbf-f038c651ad6a +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bottle +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the water bottle with the left gripper, unscrew the cap with the right gripper, + and place the water bottle on the table with the left gripper. +sub_tasks: +- subtask: Place the bottle on the table with the left gripper. + subtask_index: 0 +- subtask: Grasp the bottle with the left gripper. + subtask_index: 1 +- subtask: Unscrew the bottle cap with the right gripper while holding the bottle + with the left gripper. + subtask_index: 2 +- subtask: Lift the bottle up with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 16965 + fps: 30 + total_tasks: 6 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 632.28 MB +frame_num: 16965 +frame_range: 100K +dataset_size: 632.28 MB +data_structure: 'AIRBOT_MMK2_screw_the_bottle_cap_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_slide_block.yaml b/dataset_info/Airbot_MMK2_slide_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0c2996f5b687453c1815d57f0f55aeb5b5a16da3 --- /dev/null +++ b/dataset_info/Airbot_MMK2_slide_block.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_slide_block +dataset_uuid: 829d179e-8e0f-4391-9054-367433a29470 +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: educational_building_blocks +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Press the building block to move its position with the right gripper. +sub_tasks: +- subtask: Move the orange cylinder to the right side of the box with right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Move the blue cube to the upper right side of the box with right gripper. + subtask_index: 2 +- subtask: Adjust the build blocks. + subtask_index: 3 +- subtask: Move the green cylinder to the right side of the box with right gripper. + subtask_index: 4 +- subtask: Move the wooden arched build blocks to the upper right side of the box + with right gripper. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: Move the yellow cube to the upper right side of the box with right gripper. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- press +- push +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 173 + total_frames: 52760 + fps: 30 + total_tasks: 9 + total_videos: 692 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 2.13 GB +frame_num: 52760 +frame_range: 100K +dataset_size: 2.13 GB +data_structure: 'Airbot_MMK2_slide_block_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (161 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:172 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_slide_block_onto_post.yaml b/dataset_info/Airbot_MMK2_slide_block_onto_post.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3dcad437df6628dcbdfd5f2526e8ba937d8dfaca --- /dev/null +++ b/dataset_info/Airbot_MMK2_slide_block_onto_post.yaml @@ -0,0 +1,483 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_slide_block_onto_post +dataset_uuid: 97709b3c-ddd4-4b2f-a3ba-47c5f5d097e0 +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: early_education_toys +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the toy back to its original position with the right gripper. +sub_tasks: +- subtask: Grasp the red cylindrical build blocks with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the green cylindrical build blocks on the 1st pillar of the block + base with the right gripper. + subtask_index: 2 +- subtask: Place the red cylindrical build blocks on the 1st pillar of the block base + with the right gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Grasp the green cylindrical build blocks with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 189 + total_frames: 36378 + fps: 30 + total_tasks: 7 + total_videos: 756 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.31 GB +frame_num: 36378 +frame_range: 100K +dataset_size: 1.31 GB +data_structure: 'Airbot_MMK2_slide_block_onto_post_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (177 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:188 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_slide_tape_onto_can.yaml b/dataset_info/Airbot_MMK2_slide_tape_onto_can.yaml new file mode 100644 index 0000000000000000000000000000000000000000..92b39074f4f45d9af2b37caba6dc335f3475425a --- /dev/null +++ b/dataset_info/Airbot_MMK2_slide_tape_onto_can.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_slide_tape_onto_can +dataset_uuid: a551a0c3-45e0-403e-982a-f5c9c826dac2 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: early_education_toys +- object_name: beverages +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the rings with the left gripper and with the right gripper, respectively, + and place them on the beverage cans. +sub_tasks: +- subtask: Grasp the transparent circular ring on the left with the left gripper. + subtask_index: 0 +- subtask: Place the transparent circular ring on the left onto the fanta in the middle + with left gripper. + subtask_index: 1 +- subtask: Place the transparent circular ring on the right onto the fanta in the + middle with right gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: Grasp the transparent circular ring on the right with the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 44 + total_frames: 10133 + fps: 30 + total_tasks: 7 + total_videos: 176 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 490.06 MB +frame_num: 10133 +frame_range: 100K +dataset_size: 490.06 MB +data_structure: 'Airbot_MMK2_slide_tape_onto_can_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (32 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:43 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_square_arrangement.yaml b/dataset_info/Airbot_MMK2_square_arrangement.yaml new file mode 100644 index 0000000000000000000000000000000000000000..393562d0b7a8e36f96dbb7b7d0abdcdbee5f8a14 --- /dev/null +++ b/dataset_info/Airbot_MMK2_square_arrangement.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_square_arrangement +dataset_uuid: cd2eedcd-a8fc-496e-96d2-199d2b7e5570 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: square +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the small cubes on the left and right sides with the left gripper on the corresponding + large cube on the left side. Place the small cubes on the left and right sides with + the right gripper on the corresponding large cube on the right side. +sub_tasks: +- subtask: Grasp the green cube block with the right gripper. + subtask_index: 0 +- subtask: Grasp the blue cube block with the left gripper. + subtask_index: 1 +- subtask: Place the green cube block on the yellow cube block with the right gripper. + subtask_index: 2 +- subtask: Place the blue cube block on the red cube block with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 6572 + fps: 30 + total_tasks: 6 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 308.45 MB +frame_num: 6572 +frame_range: 10K +dataset_size: 308.45 MB +data_structure: 'AIRBOT_MMK2_square_arrangement_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_stack_block.yaml b/dataset_info/Airbot_MMK2_stack_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b97dfa7c35bc2cac9ac202d99c6f75e802730e13 --- /dev/null +++ b/dataset_info/Airbot_MMK2_stack_block.yaml @@ -0,0 +1,512 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_stack_block +dataset_uuid: abdc0dee-cdbe-4536-baae-7564ace0732d +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: square_building_blocks +- object_name: block_pillar +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the square building blocks in the center with the left gripper. Place the + cylindrical building blocks on top with the right gripper. +sub_tasks: +- subtask: Grasp the blue build blocks with the left gripper. + subtask_index: 0 +- subtask: Grasp the green build blocks with the right gripper. + subtask_index: 1 +- subtask: Place the blue build blocks on the Mini table with the left gripper. + subtask_index: 2 +- subtask: Place the green build blocks on the blue build block with the right gripper. + subtask_index: 3 +- subtask: Grasp the blue diamond shaped build blocks with the right gripper. + subtask_index: 4 +- subtask: Grasp the red build blocks with the right gripper. + subtask_index: 5 +- subtask: Place the blue diamond shaped build blocks on the glasses case with the + right gripper. + subtask_index: 6 +- subtask: Place the purple build blocks on the red build block with the right gripper. + subtask_index: 7 +- subtask: Place the green build blocks on the center of the table with the left gripper. + subtask_index: 8 +- subtask: Grasp the green build blocks with the left gripper. + subtask_index: 9 +- subtask: Place the glasses case on the red and green build blocks with the left + gripper. + subtask_index: 10 +- subtask: Grasp the purple build blocks with the right gripper. + subtask_index: 11 +- subtask: Place the blue build blocks on the yellow build block with the left gripper. + subtask_index: 12 +- subtask: Grasp the glasses case with the left gripper. + subtask_index: 13 +- subtask: Place the green cylindrical build blocks on the green build blocks with + the right gripper. + subtask_index: 14 +- subtask: End. + subtask_index: 15 +- subtask: Place the blue build blocks on the pink build block with the left gripper. + subtask_index: 16 +- subtask: Place the red build blocks on the blue build block with the right gripper. + subtask_index: 17 +- subtask: Grasp the green cylindrical build blocks with the right gripper. + subtask_index: 18 +- subtask: null. + subtask_index: 19 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 236 + total_frames: 60925 + fps: 30 + total_tasks: 20 + total_videos: 944 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 2.00 GB +frame_num: 60925 +frame_range: 100K +dataset_size: 2.00 GB +data_structure: 'Airbot_MMK2_stack_block_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (224 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:235 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_stack_bowl.yaml b/dataset_info/Airbot_MMK2_stack_bowl.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9d391966884d14090c0c7431bd18fc0b4723c4d7 --- /dev/null +++ b/dataset_info/Airbot_MMK2_stack_bowl.yaml @@ -0,0 +1,480 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_stack_bowl +dataset_uuid: 3dac8c90-87d6-47c0-b47b-b226e27699d3 +scene_type: + level1: catering + level2: restaurant + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the small bowl into the big bowl with the hand. +sub_tasks: +- subtask: Grasp the white bowl with the left gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Place the white bowl on the pink bowl with the left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Static. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 9073 + fps: 30 + total_tasks: 6 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 339.42 MB +frame_num: 9073 +frame_range: 10K +dataset_size: 339.42 MB +data_structure: 'Airbot_MMK2_Airbot_MMK2_stack_bowl_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_stack_cubic_block.yaml b/dataset_info/Airbot_MMK2_stack_cubic_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d3c38eade88ca5240b28fd952e04166e5fc9522 --- /dev/null +++ b/dataset_info/Airbot_MMK2_stack_cubic_block.yaml @@ -0,0 +1,496 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_stack_cubic_block +dataset_uuid: 6824ec0b-d5de-4095-847f-c0c4dfd03350 +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: square_building_blocks +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the building blocks with the left gripper and place them on the blocks with + the right gripper. +sub_tasks: +- subtask: Grasp the blue build blocks with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the blue build blocks on the red build block with the right gripper. + subtask_index: 2 +- subtask: Place the yellow build blocks on the orange build block with the right + gripper. + subtask_index: 3 +- subtask: Place the red build blocks on the center of the table with the left gripper. + subtask_index: 4 +- subtask: Place the orange build blocks on the yellow build block with the right + gripper. + subtask_index: 5 +- subtask: Grasp the blue build blocks with the left gripper. + subtask_index: 6 +- subtask: Grasp the red build blocks with the left gripper. + subtask_index: 7 +- subtask: Abnormal. + subtask_index: 8 +- subtask: Grasp the orange build blocks with the right gripper. + subtask_index: 9 +- subtask: Place the blue build blocks on the red build block with the left gripper. + subtask_index: 10 +- subtask: Grasp the yellow build blocks with the right gripper. + subtask_index: 11 +- subtask: null. + subtask_index: 12 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 162 + total_frames: 48691 + fps: 30 + total_tasks: 13 + total_videos: 648 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.92 GB +frame_num: 48691 +frame_range: 100K +dataset_size: 1.92 GB +data_structure: 'Airbot_MMK2_stack_cubic_block_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (150 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:161 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_stack_cup.yaml b/dataset_info/Airbot_MMK2_stack_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..11642c2f32fa5edcf99554edb835bb30589640a5 --- /dev/null +++ b/dataset_info/Airbot_MMK2_stack_cup.yaml @@ -0,0 +1,479 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_stack_cup +dataset_uuid: df39c59c-a273-4d3a-8ec1-38dd6a6db2ff +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cup with the hand and stack it on top of another cup. +sub_tasks: +- subtask: Place the purple cup on the pink cup with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the white cup with the right gripper. + subtask_index: 2 +- subtask: Place the white cup on the purple cup with the right gripper. + subtask_index: 3 +- subtask: Grasp the purple cup with the left gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 67637 + fps: 30 + total_tasks: 6 + total_videos: 396 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 2.37 GB +frame_num: 67637 +frame_range: 100K +dataset_size: 2.37 GB +data_structure: 'Airbot_MMK2_stack_cup_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_stacking_blocks.yaml b/dataset_info/Airbot_MMK2_stacking_blocks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..82901b82e37f3f27751f341e5a0d391c7d8f407c --- /dev/null +++ b/dataset_info/Airbot_MMK2_stacking_blocks.yaml @@ -0,0 +1,534 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_stacking_blocks +dataset_uuid: cdff2820-6ed6-414f-add9-1454a57a81b2 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: building_block +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the large block on the left side to the center with the left gripper, and stack + the small blocks on top of the large block with the right gripper. +- Pick up a block from the table with the left gripper and place it on the blocks. + Pick up another block from the table with the right gripper and place it on the + blocks. +- Pick up the blue cube from the left side of the table with the left gripper and + place it on top of the yellow cube in the middle of the table. Pick up the green + cube from the right side of the table with the right gripper and place it on top + of the blue cube. +- Pick up the blue cube from the table with the left gripper and place it on the small + table. Then, pick up the red cube from the table with the right gripper and place + it on top of the blue cube. +- Pick up the red rectangular block on the left side of the table with the left gripper + and place it in the center of the table. Pick up the blue hexagonal wooden block + on the right side of the table with the right gripper and place it on top of the + red rectangular block. +sub_tasks: +- subtask: Place the yellow cube on the orange cube with the right gripper. + subtask_index: 0 +- subtask: Static. + subtask_index: 1 +- subtask: Grasp the blue rhombic cuboid block with the right gripper. + subtask_index: 2 +- subtask: Grasp the red cuboid block with the left gripper. + subtask_index: 3 +- subtask: Grasp the blue small cube with the left gripper. + subtask_index: 4 +- subtask: Place the red small cube on the blue small cube with the right gripper. + subtask_index: 5 +- subtask: Place the red cuboid block in the center of view with the left gripper. + subtask_index: 6 +- subtask: Grasp the big red cube with the left gripper. + subtask_index: 7 +- subtask: Abnormal. + subtask_index: 8 +- subtask: Place the orange cube on the yellow cube with the right gripper. + subtask_index: 9 +- subtask: Place the green small cube on the blue small cube with the right gripper. + subtask_index: 10 +- subtask: Grasp the green small cube with the right gripper. + subtask_index: 11 +- subtask: Grasp the red small cube with the right gripper. + subtask_index: 12 +- subtask: Grasp the blue cube with the right gripper. + subtask_index: 13 +- subtask: Place the blue cube on the red cube with the left gripper. + subtask_index: 14 +- subtask: Grasp the orange cube with the right gripper. + subtask_index: 15 +- subtask: Grasp the blue cube with the left gripper. + subtask_index: 16 +- subtask: Place the blue small cube on the small table with the left gripper. + subtask_index: 17 +- subtask: End. + subtask_index: 18 +- subtask: Place the blue rhombic cuboid block on the red cuboid block with the right + gripper. + subtask_index: 19 +- subtask: Place the blue small cube on the yellow small cube with the left gripper. + subtask_index: 20 +- subtask: Place the big red cube in the center of view with the left gripper. + subtask_index: 21 +- subtask: Grasp the yellow cube with the right gripper. + subtask_index: 22 +- subtask: Place theblue cube on the big red cube with the right gripper. + subtask_index: 23 +- subtask: null. + subtask_index: 24 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 213 + total_frames: 52766 + fps: 30 + total_tasks: 25 + total_videos: 852 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 2.16 GB +frame_num: 52766 +frame_range: 100K +dataset_size: 2.16 GB +data_structure: 'AIRBOT_MMK2_stacking_blocks_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (201 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:212 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_and_take_cake_plate.yaml b/dataset_info/Airbot_MMK2_storage_and_take_cake_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c62557cf2f8f1cec30d2b215ba04645c5d977371 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_and_take_cake_plate.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_and_take_cake_plate +dataset_uuid: d1a448c5-3e48-40fc-abea-48ccbe6f0ee0 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cake +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the cake into the plate with the left gripper. Pick it up with the right gripper. +sub_tasks: +- subtask: Place the cake on the table with the right gripper. + subtask_index: 0 +- subtask: Grasp the cake with the left gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: Place the cake into the white plate with the left gripper. + subtask_index: 3 +- subtask: Grasp the cake on the plate with the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 9782 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 487.37 MB +frame_num: 9782 +frame_range: 10K +dataset_size: 487.37 MB +data_structure: 'Airbot_MMK2_storage_and_take_cake_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_apple_orange.yaml b/dataset_info/Airbot_MMK2_storage_apple_orange.yaml new file mode 100644 index 0000000000000000000000000000000000000000..577918d8d96d3c4dae28e30b3e2fc0ee7c538dda --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_apple_orange.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_apple_orange +dataset_uuid: 1fb03da6-a84c-43a0-ad3d-369dae395835 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: apple +- object_name: orange +- object_name: storage_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the apple with the left gripper and place it into the storage box. Pick + up the orange with the right gripper and place it into the storage box. +sub_tasks: +- subtask: Grasp the orange with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the orange into the right compartment of the storage box with the + right gripper. + subtask_index: 2 +- subtask: Grasp the apple with the left gripper. + subtask_index: 3 +- subtask: Place the apple into the left compartment of the storage box with the left + gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 41 + total_frames: 6657 + fps: 30 + total_tasks: 6 + total_videos: 164 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 176.36 MB +frame_num: 6657 +frame_range: 10K +dataset_size: 176.36 MB +data_structure: 'Airbot_MMK2_storage_apple_orange_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (29 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:40 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_badminton.yaml b/dataset_info/Airbot_MMK2_storage_badminton.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fa8baf64031b24d328db771dd98becdf74b7713d --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_badminton.yaml @@ -0,0 +1,483 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_badminton +dataset_uuid: deae536d-8b53-4024-9699-0de0c65669d1 +scene_type: + level1: other + level2: leisure_plaza + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: badminton +- object_name: storage_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the badminton shuttlecock into the storage box with the left gripper. Place + the badminton shuttlecock into the storage box with the right gripper. +sub_tasks: +- subtask: Grasp the badminton with the right gripper. + subtask_index: 0 +- subtask: Place the badminton into the left compartment of the storage box with the + left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the badminton with the left gripper. + subtask_index: 3 +- subtask: Place the badminton into the right compartment of the storage box with + the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 8382 + fps: 30 + total_tasks: 6 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 253.86 MB +frame_num: 8382 +frame_range: 10K +dataset_size: 253.86 MB +data_structure: 'Airbot_MMK2_storage_badminton_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_bell_pepper.yaml b/dataset_info/Airbot_MMK2_storage_bell_pepper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..32f579a401e731d496a5f076d3eed23e255da75a --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_bell_pepper.yaml @@ -0,0 +1,483 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_bell_pepper +dataset_uuid: 7ca43de4-5c19-4795-8554-c7761418441d +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: red_bell_pepper +- object_name: yellow_bell_pepper +- object_name: white_basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the red peppers and yellow peppers into the box with the gripper. +sub_tasks: +- subtask: Place the yellow pepper into the left compartment of the storage box with + the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the green pepper with the right gripper. + subtask_index: 2 +- subtask: Place the green pepper into the right compartment of the storage box with + the right gripper. + subtask_index: 3 +- subtask: Grasp the yellow pepper with the left gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 7525 + fps: 30 + total_tasks: 6 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 200.61 MB +frame_num: 7525 +frame_range: 10K +dataset_size: 200.61 MB +data_structure: 'Airbot_MMK2_storage_bell_pepper_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:47 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_bell_pepper_bowl.yaml b/dataset_info/Airbot_MMK2_storage_bell_pepper_bowl.yaml new file mode 100644 index 0000000000000000000000000000000000000000..53ffc8d3244ce1ef06684b3ed7e0d2e0a5eef874 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_bell_pepper_bowl.yaml @@ -0,0 +1,481 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_bell_pepper_bowl +dataset_uuid: 89fdfa05-ace7-465f-a291-c365600c95f5 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: yellow_bell_pepper +- object_name: bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the yellow-green peppers into the bowl with the right gripper. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Place yellow round chili pepper on the blue bowl with the right gripper. + subtask_index: 1 +- subtask: Grasp the yellow round chili pepper with the right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Static. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 4495 + fps: 30 + total_tasks: 6 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 149.50 MB +frame_num: 4495 +frame_range: 10K +dataset_size: 149.50 MB +data_structure: 'Airbot_MMK2_Airbot_MMK2_storage_bell_pepper_bowl_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_block.yaml b/dataset_info/Airbot_MMK2_storage_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8512d71f1ce86ca70d77d7da6f220fc4432026d5 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_block.yaml @@ -0,0 +1,526 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_block +dataset_uuid: e792e07b-2014-46b9-88e0-99af2e0e5a29 +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: rectangular_building_blocks +- object_name: pink_plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the building blocks into the plate with the hand. +sub_tasks: +- subtask: Place the green rectangular build blocks into the white plate with the + right gripper. + subtask_index: 0 +- subtask: Grasp the green cylindrical build blocks with the left gripper. + subtask_index: 1 +- subtask: Place the red cube build blocks into the plate with the left gripper. + subtask_index: 2 +- subtask: Place the green rectangular build blocks into the pink plate with the right + gripper. + subtask_index: 3 +- subtask: Place the green cube build blocks into the plate with the right gripper. + subtask_index: 4 +- subtask: Place the green cylindrical build blocks into the cardboard box with the + left gripper. + subtask_index: 5 +- subtask: Place the red rectangular build blocks into the pink plate with the left + gripper. + subtask_index: 6 +- subtask: Grasp the purple cube build blocks with the left gripper. + subtask_index: 7 +- subtask: Grasp the blue cube build blocks with the right gripper. + subtask_index: 8 +- subtask: Abnormal. + subtask_index: 9 +- subtask: Grasp the green cube build blocks with the right gripper. + subtask_index: 10 +- subtask: Place the purple cube build blocks into the white plate with the left gripper. + subtask_index: 11 +- subtask: Place the red rectangular build blocks into the white plate with the left + gripper. + subtask_index: 12 +- subtask: Place the red cube build blocks into the white plate with the right gripper. + subtask_index: 13 +- subtask: Grasp the red cylindrical build blocks with the right gripper. + subtask_index: 14 +- subtask: Place the blue cube build blocks on the purple cube build blocks with the + right gripper. + subtask_index: 15 +- subtask: Place the green cube build blocks into the pink plate with the left gripper. + subtask_index: 16 +- subtask: Grasp the green rectangular build blocks with the right gripper. + subtask_index: 17 +- subtask: End. + subtask_index: 18 +- subtask: Place the red cylindrical build blocks into the cardboard box with the + right gripper. + subtask_index: 19 +- subtask: Grasp the red cube build blocks with the left gripper. + subtask_index: 20 +- subtask: Grasp the red cube build blocks with the right gripper. + subtask_index: 21 +- subtask: Grasp the red rectangular build blocks with the left gripper. + subtask_index: 22 +- subtask: Grasp the green cube build blocks with the left gripper. + subtask_index: 23 +- subtask: null. + subtask_index: 24 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 262 + total_frames: 55260 + fps: 30 + total_tasks: 25 + total_videos: 1048 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 2.17 GB +frame_num: 55260 +frame_range: 100K +dataset_size: 2.17 GB +data_structure: 'Airbot_MMK2_storage_block_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (250 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:261 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_block_BBs.yaml b/dataset_info/Airbot_MMK2_storage_block_BBs.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6335e4bbcd9f345740bc2466d4406a646b0896ed --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_block_BBs.yaml @@ -0,0 +1,488 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_block_BBs +dataset_uuid: c8bf8635-6599-46c9-a347-335a06ee0a9b +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: bb_pellets +- object_name: bowl +- object_name: building_blocks +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the BB pellets and rectangular building blocks into the bowl with the gripper. +sub_tasks: +- subtask: Place the green cuboid block into the bowl with the right gripper. + subtask_index: 0 +- subtask: Grasp the green cuboid block with the right gripper. + subtask_index: 1 +- subtask: Grasp the bullet with the left gripper. + subtask_index: 2 +- subtask: Place the bullet into the bowl with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- pick +- grasp +- place +- lift +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 8640 + fps: 30 + total_tasks: 6 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 284.10 MB +frame_num: 8640 +frame_range: 10K +dataset_size: 284.10 MB +data_structure: 'Airbot_MMK2_storage_block_BBs_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- logs + + | `-- collect + + | `-- collect_20260522120323.log + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:47 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_block_both_hands.yaml b/dataset_info/Airbot_MMK2_storage_block_both_hands.yaml new file mode 100644 index 0000000000000000000000000000000000000000..17da87d78e083728ce7851ab288ee742b2b8d964 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_block_both_hands.yaml @@ -0,0 +1,481 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_block_both_hands +dataset_uuid: b11c8aab-e2d1-428d-8c25-7e16afc4b500 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: square_building_blocks +- object_name: cream_storage_basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the building blocks with both grippers simultaneously and place them into + the white storage box with both grippers. +sub_tasks: +- subtask: Grasp the red block with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the orange block with the right gripper. + subtask_index: 2 +- subtask: Place the red block into the white basket with the left gripper. + subtask_index: 3 +- subtask: Place the orange block into the white basket with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 3769 + fps: 30 + total_tasks: 6 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 104.11 MB +frame_num: 3769 +frame_range: 10K +dataset_size: 104.11 MB +data_structure: 'Airbot_MMK2_storage_block_both_hands_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_block_tape_measure.yaml b/dataset_info/Airbot_MMK2_storage_block_tape_measure.yaml new file mode 100644 index 0000000000000000000000000000000000000000..94fd13fc4b55aaff44b5b7b487ccdf70b17a2f25 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_block_tape_measure.yaml @@ -0,0 +1,488 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_block_tape_measure +dataset_uuid: a53a8526-fca3-4871-83a0-62d211d63a7c +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: ruler_set +- object_name: building_blocks +- object_name: bowl +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the building blocks into the bowl with the left gripper and the ruler on the + plate with the right gripper. +sub_tasks: +- subtask: Place the tape measure into the pink plate with the right gripper. + subtask_index: 0 +- subtask: Grasp the tape measure with the right gripper. + subtask_index: 1 +- subtask: Place the green rectangular block into the blue bowl with the left gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Grasp the green rectangular block with the left gripper. + subtask_index: 4 +- subtask: Abnormal. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 8921 + fps: 30 + total_tasks: 8 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 371.90 MB +frame_num: 8921 +frame_range: 10K +dataset_size: 371.90 MB +data_structure: 'Airbot_MMK2_storage_block_tape_measure_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:47 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_book.yaml b/dataset_info/Airbot_MMK2_storage_book.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5545b8c15b769260f9c4a502aa565184dd29f272 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_book.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_book +dataset_uuid: 08579bc2-33e6-44b8-ba50-1b5706a8c3b6 +scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: bookshelves +- object_name: book +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the book with the right gripper and place it on the bookshelf with the right + gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the book with the right gripper. + subtask_index: 1 +- subtask: Place the book on the bookshelf with the left gripper. + subtask_index: 2 +- subtask: Place the book on the bookshelf with the right gripper. + subtask_index: 3 +- subtask: Push the book to the edge of the table with the right gripper. + subtask_index: 4 +- subtask: Grasp the book with the left gripper. + subtask_index: 5 +- subtask: Grasp the third book from the right with the left gripper. + subtask_index: 6 +- subtask: Abnormal. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 237 + total_frames: 91429 + fps: 30 + total_tasks: 9 + total_videos: 948 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 4.07 GB +frame_num: 91429 +frame_range: 100K +dataset_size: 4.07 GB +data_structure: 'Airbot_MMK2_storage_book_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (225 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:236 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_bottle_part.yaml b/dataset_info/Airbot_MMK2_storage_bottle_part.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d833914aa035a6811e75cfebb5703efe241f8607 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_bottle_part.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_bottle_part +dataset_uuid: 85e60000-e33a-446b-a956-ce91d77b5f1c +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: water_bottle +- object_name: handle +- object_name: carton +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the water bottle and handle into the cardboard box with the gripper. +sub_tasks: +- subtask: Grasp the water bottle with the right gripper. + subtask_index: 0 +- subtask: Place the water bottle into the cardboard box with the right gripper. + subtask_index: 1 +- subtask: Lift the water bottle with the right gripper. + subtask_index: 2 +- subtask: Lift the remote control clip with the left gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: Place the remote control clip into the cardboard box with the left gripper. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: Grasp the remote control clip with the left gripper. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 10499 + fps: 30 + total_tasks: 10 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 508.18 MB +frame_num: 10499 +frame_range: 100K +dataset_size: 508.18 MB +data_structure: 'Airbot_MMK2_storage_bottle_part_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_bowl.yaml b/dataset_info/Airbot_MMK2_storage_bowl.yaml new file mode 100644 index 0000000000000000000000000000000000000000..708a4ccb225a0264892a6d2bf90e8ca0c8845759 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_bowl.yaml @@ -0,0 +1,481 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_bowl +dataset_uuid: 5193d395-7eb6-4f59-95ae-2e5055a167f1 +scene_type: + level1: catering + level2: restaurant + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: bowl +- object_name: basin +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the bowls on the table with the grippers and place them into the yellow + basin. +sub_tasks: +- subtask: Grasp the pink bowl with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the white bowl with the right gripper. + subtask_index: 2 +- subtask: Place the pink bowl into the yellow storage box with the left gripper. + subtask_index: 3 +- subtask: Place the white bowl into the yellow storage box with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 46 + total_frames: 10955 + fps: 30 + total_tasks: 6 + total_videos: 184 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 432.15 MB +frame_num: 10955 +frame_range: 100K +dataset_size: 432.15 MB +data_structure: 'Airbot_MMK2_storage_bowl_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (34 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:45 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_bowl_wet_wipes.yaml b/dataset_info/Airbot_MMK2_storage_bowl_wet_wipes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1aecfbb7bbfe032353417f79e07b7918cadd6f11 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_bowl_wet_wipes.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_bowl_wet_wipes +dataset_uuid: 02ae73d2-a9a0-465e-af14-eabdbfb11aa1 +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plastic_bowls +- object_name: rectangular_plate +- object_name: wet_tissue_paper +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the bowl and wet wipes on the plate with the gripper. +sub_tasks: +- subtask: Place the wet wipes into the bowl with the left gripper. + subtask_index: 0 +- subtask: Place the bowl on the plate with the right gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: Grasp the wet wipes with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Grasp the bowl with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 13058 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 425.41 MB +frame_num: 13058 +frame_range: 100K +dataset_size: 425.41 MB +data_structure: 'Airbot_MMK2_storage_bowl_wet_wipes_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_box_for_mouse_and_sponge.yaml b/dataset_info/Airbot_MMK2_storage_box_for_mouse_and_sponge.yaml new file mode 100644 index 0000000000000000000000000000000000000000..15086feaff56a639f4203d6606a3ec443bc51f62 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_box_for_mouse_and_sponge.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_box_for_mouse_and_sponge +dataset_uuid: 2c6237a9-4c9b-45ce-bd08-c48c42462c93 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: mouse_box +- object_name: sponge +- object_name: round_plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the mouse box in the round plate with the left gripper. Place the sponge in + the round plate with the right gripper. +sub_tasks: +- subtask: Grasp the sponge with the right gripper. + subtask_index: 0 +- subtask: Static. + subtask_index: 1 +- subtask: Place the box on the white plate with the left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Place the sponge on the white plate with the right gripper. + subtask_index: 5 +- subtask: Grasp the box with the left gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 9471 + fps: 30 + total_tasks: 8 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 299.29 MB +frame_num: 9471 +frame_range: 10K +dataset_size: 299.29 MB +data_structure: 'AIRBOT_MMK2_storage_box_for_mouse_and_sponge_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_braised_pork_belly_shrimp.yaml b/dataset_info/Airbot_MMK2_storage_braised_pork_belly_shrimp.yaml new file mode 100644 index 0000000000000000000000000000000000000000..685ec96c95e997ed44cb53eda4a8e1573279eb25 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_braised_pork_belly_shrimp.yaml @@ -0,0 +1,483 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_braised_pork_belly_shrimp +dataset_uuid: bc8cb44a-0607-4499-af4b-29d23baeed6f +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: shrimp +- object_name: braised_pork +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the braised pork and shrimp on the plate with the gripper. +sub_tasks: +- subtask: Place the braised pork in brown sauce into the plate with the left gripper. + subtask_index: 0 +- subtask: Grasp the shrimp with the right gripper. + subtask_index: 1 +- subtask: Place the shrimp into the plate with the right gripper. + subtask_index: 2 +- subtask: Grasp the cake from the table and with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Grasp the braised pork in brown sauce with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 38 + total_frames: 5834 + fps: 30 + total_tasks: 7 + total_videos: 152 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 277.59 MB +frame_num: 5834 +frame_range: 10K +dataset_size: 277.59 MB +data_structure: 'Airbot_MMK2_storage_braised_pork_belly_shrimp_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (26 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:37 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_cake_both_hands.yaml b/dataset_info/Airbot_MMK2_storage_cake_both_hands.yaml new file mode 100644 index 0000000000000000000000000000000000000000..93e4e9514b4235a6cbaf1a275ba0964e40c6edab --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cake_both_hands.yaml @@ -0,0 +1,483 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_cake_both_hands +dataset_uuid: 419aacad-0884-48c7-9531-3da0f677822f +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cakes +- object_name: lid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place two cakes into the lid with the gripper. +sub_tasks: +- subtask: Grasp the cake with the left gripper. + subtask_index: 0 +- subtask: Place the cake on the white basket with the right gripper. + subtask_index: 1 +- subtask: Grasp the cake with the right gripper. + subtask_index: 2 +- subtask: Place the cake on the white basket with the left gripper. + subtask_index: 3 +- subtask: Static. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 4445 + fps: 30 + total_tasks: 7 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 188.07 MB +frame_num: 4445 +frame_range: 10K +dataset_size: 188.07 MB +data_structure: 'Airbot_MMK2_storage_cake_both_hands_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_cake_box.yaml b/dataset_info/Airbot_MMK2_storage_cake_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a2e0a4baf1ba55ca0f8b22ea7aa6349b709cd342 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cake_box.yaml @@ -0,0 +1,478 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_cake_box +dataset_uuid: 888d5395-2b2b-4719-b2d4-1ce32bbd603e +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: flip_top_paper_boxes +- object_name: cake +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the box with the left gripper and place the cake inside with the right gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the cake with the right gripper. + subtask_index: 1 +- subtask: Open the lid of the box with the left gripper. + subtask_index: 2 +- subtask: Place the cake into the box with the right gripper. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 10329 + fps: 30 + total_tasks: 5 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 283.16 MB +frame_num: 10329 +frame_range: 100K +dataset_size: 283.16 MB +data_structure: 'Airbot_MMK2_storage_cake_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_cake_cup.yaml b/dataset_info/Airbot_MMK2_storage_cake_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c41790b5f0c36c5846f106397b3b5c4ce113ffe --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cake_cup.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_cake_cup +dataset_uuid: 00494148-2ad0-448b-9918-ccab84f2fe20 +scene_type: + level1: catering + level2: cafe + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cup +- object_name: ice_cream +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the ice cream into the cup with the gripper. +sub_tasks: +- subtask: Place the cake into the blue cup with the right gripper. + subtask_index: 0 +- subtask: Grasp the cake with the left gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Grasp the cake with the right gripper. + subtask_index: 3 +- subtask: Static. + subtask_index: 4 +- subtask: Place the cake into the blue cup with the left gripper. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 18739 + fps: 30 + total_tasks: 8 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 730.92 MB +frame_num: 18739 +frame_range: 100K +dataset_size: 730.92 MB +data_structure: 'Airbot_MMK2_storage_cake_cup_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_cake_ice_cream.yaml b/dataset_info/Airbot_MMK2_storage_cake_ice_cream.yaml new file mode 100644 index 0000000000000000000000000000000000000000..265346abfee218054fe3c566255e4074c619ae3a --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cake_ice_cream.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_cake_ice_cream +dataset_uuid: 6a452eb1-9fa0-4cc8-bbbf-122ce3c9df30 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: plate +- object_name: cake +- object_name: ice_cream +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the cake with the left gripper and the ice cream with the right gripper into + the plate respectively. +sub_tasks: +- subtask: Grasp the ice cream with the right gripper. + subtask_index: 0 +- subtask: Place the ice cream into the white basket with the right gripper. + subtask_index: 1 +- subtask: Grasp the cake with the left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the cake into the white basket with the left gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 11989 + fps: 30 + total_tasks: 6 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 571.59 MB +frame_num: 11989 +frame_range: 100K +dataset_size: 571.59 MB +data_structure: 'Airbot_MMK2_storage_cake_ice_cream_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_cake_pan.yaml b/dataset_info/Airbot_MMK2_storage_cake_pan.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f578c3ae41bb27c8a5e2fa19bf1a55260c1edda4 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cake_pan.yaml @@ -0,0 +1,480 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_cake_pan +dataset_uuid: 3ceafee2-df12-4004-9d80-b188d1e6e0a1 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: pan +- object_name: cake +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the pot down with the left gripper. Place the cake in it with the right gripper. +sub_tasks: +- subtask: Grasp the frying pan with the left gripper. + subtask_index: 0 +- subtask: Grasp the bread with the right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the bread on the frying pan with the right gripper. + subtask_index: 3 +- subtask: Place the frying pan on the table with the left gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 8832 + fps: 30 + total_tasks: 6 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 250.93 MB +frame_num: 8832 +frame_range: 10K +dataset_size: 250.93 MB +data_structure: 'Airbot_MMK2_storage_cake_pan_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:47 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_cake_plate.yaml b/dataset_info/Airbot_MMK2_storage_cake_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..19e93fffdc259e0611525af25e3b670359e6f091 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cake_plate.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_cake_plate +dataset_uuid: 66eb9b0f-583c-4233-a2bc-c064f0ea3b0b +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cake +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the cake into the plate with the left gripper. Place the cake into the plate + with the right gripper. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Grasp the bagged cake with the left gripper. + subtask_index: 1 +- subtask: Place the bagged cake on the white plate with the right gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Grasp the bagged cake with the right gripper. + subtask_index: 5 +- subtask: Place the bagged cake on the white plate with the left gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 6430 + fps: 30 + total_tasks: 8 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 280.77 MB +frame_num: 6430 +frame_range: 10K +dataset_size: 280.77 MB +data_structure: 'Airbot_MMK2_storage_cake_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_computer_box.yaml b/dataset_info/Airbot_MMK2_storage_computer_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5d5975bb9d456370c591a88ebef18bc5ee8f9089 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_computer_box.yaml @@ -0,0 +1,481 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_computer_box +dataset_uuid: dc4fba6b-79c1-4977-a7ad-1b159d434505 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: calculator_box +- object_name: lid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the calculator box from the table with the left gripper and pass it to the + right gripper. Pick up the computer box with the right gripper and place it inside + the white lid with the gripper. +sub_tasks: +- subtask: Place the calculator box into the white basket with the right gripper. + subtask_index: 0 +- subtask: Deliver the calculator box from left gripper to right gripper. + subtask_index: 1 +- subtask: Grasp the calculator box with the left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 10024 + fps: 30 + total_tasks: 5 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 363.70 MB +frame_num: 10024 +frame_range: 100K +dataset_size: 363.70 MB +data_structure: 'AIRBOT_MMK2_storage_computer_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_cookie_cup.yaml b/dataset_info/Airbot_MMK2_storage_cookie_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..50286c171c4ab69a8151538af453a45664927a62 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cookie_cup.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_cookie_cup +dataset_uuid: c74e66bf-44fd-459d-aa67-c839dc9271ec +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: plate +- object_name: macaron +- object_name: refreshing_beer +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the cookies on the plate with the left gripper. Place the beer on the plate + with the right gripper. +sub_tasks: +- subtask: Place the beer mug on the white basket with the right gripper. + subtask_index: 0 +- subtask: Place the bagged cookies on the white basket with the left gripper. + subtask_index: 1 +- subtask: Grasp the bagged cookies with the left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Grasp the beer mug with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 9983 + fps: 30 + total_tasks: 6 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 488.88 MB +frame_num: 9983 +frame_range: 10K +dataset_size: 488.88 MB +data_structure: 'Airbot_MMK2_storage_cookie_cup_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_cookie_toy_car.yaml b/dataset_info/Airbot_MMK2_storage_cookie_toy_car.yaml new file mode 100644 index 0000000000000000000000000000000000000000..31b3d7a1bd8af215d28a1a29bcf9b044bf24cfff --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cookie_toy_car.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_cookie_toy_car +dataset_uuid: cd07af68-cd83-4eaa-9ad1-c0b0926ab380 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: toy_car +- object_name: cookie +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the toy car with the left gripper and place it into the basket. Then, pick + up the cookie with the right gripper and place it into the basket. +sub_tasks: +- subtask: Lift the toy car with left gripper and lift the cookies with the right + gripper. + subtask_index: 0 +- subtask: Grasp the toy car with left gripper and grasp the cookies with the right + gripper. + subtask_index: 1 +- subtask: Place the toy car on the pink plate with the left gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: Place the cookies on the pink plate with the right gripper. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 8388 + fps: 30 + total_tasks: 8 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 277.73 MB +frame_num: 8388 +frame_range: 10K +dataset_size: 277.73 MB +data_structure: 'Airbot_MMK2_storage_cookie_toy_car_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_cup.yaml b/dataset_info/Airbot_MMK2_storage_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ad159a0b339bc61b09a39d9adea95a113f136e79 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cup.yaml @@ -0,0 +1,490 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_cup +dataset_uuid: dc43d1ff-f192-4e89-85d8-a8f3705cd872 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: any_cup +- object_name: basin +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the two cups into the basin with the gripper. +sub_tasks: +- subtask: place the cup in the yellow basket with the right gripper. + subtask_index: 0 +- subtask: Grasp the cup the left gripper. + subtask_index: 1 +- subtask: Lift the cup the right gripper. + subtask_index: 2 +- subtask: place the cup in the basin with the left gripper. + subtask_index: 3 +- subtask: Grasp the cup the right gripper. + subtask_index: 4 +- subtask: place the cup in the yellow basket with the left gripper. + subtask_index: 5 +- subtask: place the cup in the basin with the right gripper. + subtask_index: 6 +- subtask: Static. + subtask_index: 7 +- subtask: Lift the cup the left gripper. + subtask_index: 8 +- subtask: End. + subtask_index: 9 +- subtask: null. + subtask_index: 10 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 20190 + fps: 30 + total_tasks: 11 + total_videos: 396 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 802.45 MB +frame_num: 20190 +frame_range: 100K +dataset_size: 802.45 MB +data_structure: 'Airbot_MMK2_storage_cup_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_cup_plate.yaml b/dataset_info/Airbot_MMK2_storage_cup_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a71aeb7f2f5fb8f6d35d66539db87619c71d129e --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cup_plate.yaml @@ -0,0 +1,483 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_cup_plate +dataset_uuid: 9e164774-1531-4e0a-bfbd-e3a41fe355b0 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: any_cup +- object_name: white_small_plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cups on the table with the hand and place them on the white plate with + the hand. +sub_tasks: +- subtask: Grasp the purple cup with the right gripper. + subtask_index: 0 +- subtask: Grasp the blue cup with the left gripper. + subtask_index: 1 +- subtask: Place the blue cup on the plate with the left gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: Place the purple cup on the blue cup with the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- place +- lift +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 44 + total_frames: 11727 + fps: 30 + total_tasks: 7 + total_videos: 176 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 500.26 MB +frame_num: 11727 +frame_range: 100K +dataset_size: 500.26 MB +data_structure: 'Airbot_MMK2_storage_cup_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (32 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:43 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_cup_rubik's_cube.yaml b/dataset_info/Airbot_MMK2_storage_cup_rubik's_cube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f2a0479bacac6e9b13b65be984db7a72f8db3be8 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cup_rubik's_cube.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_cup_rubik's_cube +dataset_uuid: 6a7c4463-732e-44f8-a049-646bab9ac3e4 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: plate +- object_name: cup +- object_name: rubik's_cube +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the Rubik's Cube into the plate with the right gripper. Place the cup on top + of the cube with the left gripper. +sub_tasks: +- subtask: Grasp the paper cup with the left gripper. + subtask_index: 0 +- subtask: Place the paper cup on the magic cube with the left gripper. + subtask_index: 1 +- subtask: Place the magic cube on the plate with the right gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: Grasp the magic cube with the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 13787 + fps: 30 + total_tasks: 7 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 387.16 MB +frame_num: 13787 +frame_range: 100K +dataset_size: 387.16 MB +data_structure: 'Airbot_MMK2_storage_cup_rubik_s_cube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_diamond_ring.yaml b/dataset_info/Airbot_MMK2_storage_diamond_ring.yaml new file mode 100644 index 0000000000000000000000000000000000000000..67bf7b253ef1bfd4c7eedbc5e39a2e6c73fb95a9 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_diamond_ring.yaml @@ -0,0 +1,479 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_diamond_ring +dataset_uuid: debd6bd9-dd7d-4283-a6b0-830f5e006db0 +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: diamond_ring +- object_name: flip_top_paper_boxes +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the ring into the box with the gripper. +sub_tasks: +- subtask: Place the diamond ring into the box with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Close the lid of the box with the left gripper. + subtask_index: 2 +- subtask: Grasp the diamond ring with the right gripper. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- place +- pick +- rotate +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 9131 + fps: 30 + total_tasks: 5 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 427.00 MB +frame_num: 9131 +frame_range: 10K +dataset_size: 427.00 MB +data_structure: 'Airbot_MMK2_storage_diamond_ring_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_egg_bowl.yaml b/dataset_info/Airbot_MMK2_storage_egg_bowl.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0d985f1bf2d99cad89e20a216752078589497323 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_egg_bowl.yaml @@ -0,0 +1,483 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_egg_bowl +dataset_uuid: 63bd0ac6-e8da-4877-a892-0fcdd1abf2f2 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: egg +- object_name: bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the egg from the table with the grippers and place it into the bowl with + the grippers. +sub_tasks: +- subtask: Grasp the egg with the left gripper. + subtask_index: 0 +- subtask: Place the egg into bowl with the right gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Place the egg into bowl with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Grasp the egg with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 11572 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 444.73 MB +frame_num: 11572 +frame_range: 100K +dataset_size: 444.73 MB +data_structure: 'Airbot_MMK2_storage_egg_bowl_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_egg_plate.yaml b/dataset_info/Airbot_MMK2_storage_egg_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f649e8fcd3ee8a8fb523e5f453bbb4328d3c340e --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_egg_plate.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_egg_plate +dataset_uuid: 74d2c5c6-30c7-4ce7-b000-f1e58a75fc97 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: egg +- object_name: white_small_plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the egg from the table with the grippers and place it into the plate with + the grippers. +sub_tasks: +- subtask: Place the egg into the plate with the right gripper. + subtask_index: 0 +- subtask: Grasp the egg with the left gripper. + subtask_index: 1 +- subtask: Place the egg into the plate with the left gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: Place the cake into the plate with the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Grasp the egg with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 45 + total_frames: 7564 + fps: 30 + total_tasks: 8 + total_videos: 180 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 345.43 MB +frame_num: 7564 +frame_range: 10K +dataset_size: 345.43 MB +data_structure: 'Airbot_MMK2_storage_egg_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (33 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:44 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_egg_white_box.yaml b/dataset_info/Airbot_MMK2_storage_egg_white_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..231fae993bc0d89c5318e62612b4ab7368caeb10 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_egg_white_box.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_egg_white_box +dataset_uuid: 8a48d008-5794-4c72-a99d-d2de40858e9d +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: egg +- object_name: white_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the egg from the table with the grippers and place it into the storage box + with the grippers. +sub_tasks: +- subtask: Place the egg into the left compartment of the storage box with the left + gripper. + subtask_index: 0 +- subtask: Grasp the egg with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the egg with the right gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Place the egg into the right compartment of the storage box with the right + gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 43 + total_frames: 6645 + fps: 30 + total_tasks: 7 + total_videos: 172 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 173.90 MB +frame_num: 6645 +frame_range: 10K +dataset_size: 173.90 MB +data_structure: 'Airbot_MMK2_storage_egg_white_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (31 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:42 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_egg_yellow_box.yaml b/dataset_info/Airbot_MMK2_storage_egg_yellow_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f1b6e3f64d866e73697937ec8cd97001606e91b6 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_egg_yellow_box.yaml @@ -0,0 +1,480 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_egg_yellow_box +dataset_uuid: 6f744758-a75c-405e-8e23-3b793d00a493 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: egg +- object_name: egg_carton +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the egg from the table with the grippers and place it into the egg carton. +sub_tasks: +- subtask: Close the lid of the egg storage box with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the egg into the egg storage box with the right gripper. + subtask_index: 2 +- subtask: Grasp the egg with the right gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 249 + total_frames: 68503 + fps: 30 + total_tasks: 6 + total_videos: 996 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 2.69 GB +frame_num: 68503 +frame_range: 100K +dataset_size: 2.69 GB +data_structure: 'Airbot_MMK2_storage_egg_yellow_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (237 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:248 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_electronics_white_basket.yaml b/dataset_info/Airbot_MMK2_storage_electronics_white_basket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bf0e94b1758f42cb5152fa00116e2ed4c19339c6 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_electronics_white_basket.yaml @@ -0,0 +1,478 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_electronics_white_basket +dataset_uuid: cf4d18cf-e7f3-4f05-9982-140f18bf8d92 +scene_type: + level1: industry + level2: factory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: paper_boxes +- object_name: basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the mouse box and the calculator box into the white basket with the hand. +sub_tasks: +- subtask: Deliver the calculator box from left gripper to right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the calculator box with the left gripper. + subtask_index: 2 +- subtask: Place the calculator box into the white basket with the right gripper. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 10024 + fps: 30 + total_tasks: 5 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 363.95 MB +frame_num: 10024 +frame_range: 100K +dataset_size: 363.95 MB +data_structure: 'Airbot_MMK2_storage_electronics_white_basket_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_electronics_yellow_baket.yaml b/dataset_info/Airbot_MMK2_storage_electronics_yellow_baket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4cb2118b4de9e9c03cfe524226bacba8580e8b82 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_electronics_yellow_baket.yaml @@ -0,0 +1,494 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_electronics_yellow_baket +dataset_uuid: d0a7a2fd-d149-44ca-9821-1ba270952e30 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: paper_boxes +- object_name: basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the electronic products components into the yellow basket with the gripper. +sub_tasks: +- subtask: Place the calculator box into the storage box with the left gripper. + subtask_index: 0 +- subtask: Grasp the calculator box with the left gripper. + subtask_index: 1 +- subtask: Place the calculator box into the storage box with the right gripper. + subtask_index: 2 +- subtask: Place the phone case box into the storage box with the right gripper. + subtask_index: 3 +- subtask: Place the phone case box in the yellow box with the right gripper. + subtask_index: 4 +- subtask: Place the phone case box into the storage box with the left gripper. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: Place the calculator box in the yellow box with the left gripper. + subtask_index: 7 +- subtask: Grasp the calculator box with the right gripper. + subtask_index: 8 +- subtask: Grasp the phone case box with the right gripper. + subtask_index: 9 +- subtask: End. + subtask_index: 10 +- subtask: Grasp the phone case box with the left gripper. + subtask_index: 11 +- subtask: null. + subtask_index: 12 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 25739 + fps: 30 + total_tasks: 13 + total_videos: 396 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 879.45 MB +frame_num: 25739 +frame_range: 100K +dataset_size: 879.45 MB +data_structure: 'Airbot_MMK2_storage_electronics_yellow_baket_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_for_building_blocks_and_beauty_sponges.yaml b/dataset_info/Airbot_MMK2_storage_for_building_blocks_and_beauty_sponges.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0dedc97af2d5e2954eadae85d9b97bdec39d8268 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_for_building_blocks_and_beauty_sponges.yaml @@ -0,0 +1,514 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_for_building_blocks_and_beauty_sponges +dataset_uuid: be857fee-79ab-4aaa-b319-7037bc68d506 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plastic_bullets +- object_name: plate +- object_name: building_blocks +- object_name: sponge +- object_name: mouse_box +- object_name: beverage +- object_name: wet_wipes +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the plastic bullets from the plate with the left gripper and place them + on the table. Pick up the building blocks from the table with the right gripper + and place them on the plate. +- Pick up the sponge from the plate with the left gripper and place it on the table. + Pick up the mouse box from the table with the right gripper and place it on the + plate. +- Pick up the drink from the plate with the left gripper and place it on the table. + Pick up the wet wipes from the table with the right gripper and place them on the + plate. +sub_tasks: +- subtask: grasp the bullet on the plate and with the left gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Place the mouse box into the plate with the right gripper. + subtask_index: 2 +- subtask: Grasp the Vitamin B water in the plate with the left gripper. + subtask_index: 3 +- subtask: Place the wet wipes into the plate with the right gripper. + subtask_index: 4 +- subtask: Place the bullet on the table with the left gripper. + subtask_index: 5 +- subtask: Grasp the mouse box with the right gripper. + subtask_index: 6 +- subtask: Place the sponge on the table with the left gripper. + subtask_index: 7 +- subtask: Place the Vitamin B water on the table with the left gripper. + subtask_index: 8 +- subtask: Static. + subtask_index: 9 +- subtask: grasp the green rectangular block with the right gripper. + subtask_index: 10 +- subtask: End. + subtask_index: 11 +- subtask: Grasp the sponge in the plate with the left gripper. + subtask_index: 12 +- subtask: Grasp the wet wipes with the right gripper. + subtask_index: 13 +- subtask: Place the green rectangular block on the plate with the right gripper. + subtask_index: 14 +- subtask: null. + subtask_index: 15 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 150 + total_frames: 33906 + fps: 30 + total_tasks: 16 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.03 GB +frame_num: 33906 +frame_range: 100K +dataset_size: 1.03 GB +data_structure: 'AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (138 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:149 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_gold_bar_model_shark_doll.yaml b/dataset_info/Airbot_MMK2_storage_gold_bar_model_shark_doll.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fd650c74ec5b7274caed56c2099caf5d3eaa4b8c --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_gold_bar_model_shark_doll.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_gold_bar_model_shark_doll +dataset_uuid: 447d6dc6-c769-4d45-9e2d-2605cd8a803a +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: paper_boxes +- object_name: shark_doll +- object_name: gold_bar +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the shark doll with the left gripper and the gold bar with the right gripper + into the paper box respectively. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the whale on the paper box with the left gripper. + subtask_index: 1 +- subtask: Place the gold bar on the paper box with the right gripper. + subtask_index: 2 +- subtask: Grasp the whale with the left gripper. + subtask_index: 3 +- subtask: Grasp the gold bar with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 44 + total_frames: 5620 + fps: 30 + total_tasks: 6 + total_videos: 176 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 240.39 MB +frame_num: 5620 +frame_range: 10K +dataset_size: 240.39 MB +data_structure: 'Airbot_MMK2_storage_gold_bar_model_shark_doll_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (32 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:43 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_grape.yaml b/dataset_info/Airbot_MMK2_storage_grape.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5f381d6befbc1e340673b078c71fc7bba1fafb06 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_grape.yaml @@ -0,0 +1,476 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_grape +dataset_uuid: 0def36d6-92fa-40df-bf71-cf144a701fab +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: grape +- object_name: storage_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the grapes into the white box with the hand. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the grape with the right gripper. + subtask_index: 1 +- subtask: Place the grape into the storage box with the right gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- place +- lift +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 5721 + fps: 30 + total_tasks: 4 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 150.50 MB +frame_num: 5721 +frame_range: 10K +dataset_size: 150.50 MB +data_structure: 'Airbot_MMK2_storage_grape_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_hourglass.yaml b/dataset_info/Airbot_MMK2_storage_hourglass.yaml new file mode 100644 index 0000000000000000000000000000000000000000..790bab2078d3bb80f7dff62104025d1942e27ebe --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_hourglass.yaml @@ -0,0 +1,477 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_hourglass +dataset_uuid: 8ee53d45-9705-4d8b-8820-ef4cd97579f4 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: hourglass +- object_name: storage_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the hourglass into the storage box with the right gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the hourglass into the right compartment of the storage box with + the right gripper. + subtask_index: 1 +- subtask: Grasp the hourglass with the right gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 7471 + fps: 30 + total_tasks: 4 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 236.33 MB +frame_num: 7471 +frame_range: 10K +dataset_size: 236.33 MB +data_structure: 'Airbot_MMK2_storage_hourglass_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_ice_cream.yaml b/dataset_info/Airbot_MMK2_storage_ice_cream.yaml new file mode 100644 index 0000000000000000000000000000000000000000..98185108f963c20f996f5f362875e74fea20a81a --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_ice_cream.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_ice_cream +dataset_uuid: 9f25b1c5-9d2a-4495-a08c-d047eca32f8b +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: ice_cream +- object_name: storage_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the ice cream into the storage box with the left gripper. Place the ice cream + into the storage box with the right gripper. +sub_tasks: +- subtask: Grasp the ice cream with the right gripper. + subtask_index: 0 +- subtask: Place the ice cream into the white basket with the right gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Place the ice cream into the white basket with the left gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Grasp the ice cream with the left gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 7639 + fps: 30 + total_tasks: 8 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 307.08 MB +frame_num: 7639 +frame_range: 10K +dataset_size: 307.08 MB +data_structure: 'Airbot_MMK2_storage_ice_cream_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_item.yaml b/dataset_info/Airbot_MMK2_storage_item.yaml new file mode 100644 index 0000000000000000000000000000000000000000..509163c604ba72957a61935d98812654805c7dc7 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_item.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_item +dataset_uuid: b53b741f-6c4c-401c-a3cf-83ef26539097 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: building_blocks +- object_name: bowl +- object_name: tape_measure +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the building blocks on the table with the left gripper and place them into + the bowl. Pick up the tape measure from the table with the right gripper and place + it in the small tray. +sub_tasks: +- subtask: Place the green rectangular block into the blue bowl with the left gripper. + subtask_index: 0 +- subtask: Place the tape measure into the pink plate with the right gripper. + subtask_index: 1 +- subtask: Grasp the tape measure with the right gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Grasp the green rectangular block with the left gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 8573 + fps: 30 + total_tasks: 8 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 357.60 MB +frame_num: 8573 +frame_range: 10K +dataset_size: 357.60 MB +data_structure: 'AIRBOT_MMK2_storage_item_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_lemon_mango.yaml b/dataset_info/Airbot_MMK2_storage_lemon_mango.yaml new file mode 100644 index 0000000000000000000000000000000000000000..005db23d84b7bc971d3bc66f564432ed4ebb84e4 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_lemon_mango.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_lemon_mango +dataset_uuid: 14974a95-cea1-40c1-ad30-43df6e1284d0 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: lemon +- object_name: mango +- object_name: storage_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the mango with the left gripper and the lemon with the right gripper, and + place them into the storage box. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the lemon into the right compartment of the storage box with the + right gripper. + subtask_index: 1 +- subtask: Place the mango into the left compartment of the storage box with the left + gripper. + subtask_index: 2 +- subtask: Grasp the mango with the left gripper. + subtask_index: 3 +- subtask: Grasp the lemon with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- place +- lift +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 7685 + fps: 30 + total_tasks: 6 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 201.67 MB +frame_num: 7685 +frame_range: 10K +dataset_size: 201.67 MB +data_structure: 'Airbot_MMK2_storage_lemon_mango_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_mango_pomegranate.yaml b/dataset_info/Airbot_MMK2_storage_mango_pomegranate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d579905c6fef5db52e3b51821347a3cb63491f42 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_mango_pomegranate.yaml @@ -0,0 +1,494 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_mango_pomegranate +dataset_uuid: ce56572d-cc18-4057-8cfd-a8fd1c5bbf82 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: pomegranate +- object_name: mango +- object_name: storage_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the pomegranate with the left gripper and place it into the storage box. + Pick up the mango with the right gripper and place it into the storage box. +sub_tasks: +- subtask: Place the pomegranate into the left compartment of the storage box with + the left gripper. + subtask_index: 0 +- subtask: Grasp the pomegranate with the left gripper. + subtask_index: 1 +- subtask: Grasp a mango with the right gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Place the pomegranate into the left compartment of the storage box with + the left gripper. + subtask_index: 4 +- subtask: Grasp a pomegranate with the left gripper. + subtask_index: 5 +- subtask: Grasp the mango with the right gripper. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: Place the mango into the right compartment of the storage box with the + right gripper. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 90 + total_frames: 28506 + fps: 30 + total_tasks: 10 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 896.02 MB +frame_num: 28506 +frame_range: 100K +dataset_size: 896.02 MB +data_structure: 'Airbot_MMK2_Airbot_MMK2_storage_mango_pomegranate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (78 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:89 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_milk_tissue.yaml b/dataset_info/Airbot_MMK2_storage_milk_tissue.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e76e84e737354b918a3ffd237736bf6122e658fe --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_milk_tissue.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_milk_tissue +dataset_uuid: 3280a476-1668-4eb0-9c1a-9356c4acc341 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: milk +- object_name: tissue_paper +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the tissue with the left gripper and place it into the basket. Then, pick + up the milk with the right gripper and place it into the basket. +sub_tasks: +- subtask: Place the milk on the white basket with the right gripper. + subtask_index: 0 +- subtask: Place the tissue on the white basket with the left gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Grasp the milk with the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Grasp the tissue with the left gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 10048 + fps: 30 + total_tasks: 8 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 350.37 MB +frame_num: 10048 +frame_range: 100K +dataset_size: 350.37 MB +data_structure: 'Airbot_MMK2_storage_milk_tissue_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:47 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_network_cable_paper_box.yaml b/dataset_info/Airbot_MMK2_storage_network_cable_paper_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..147781a2f71a6b58436c4b55214fc8eea0285537 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_network_cable_paper_box.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_network_cable_paper_box +dataset_uuid: 82de7431-16b8-42df-a01f-16e67dbf422a +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: box +- object_name: carton +- object_name: cable +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the box with the left gripper and place it into the lid. Pick up the cable + with the right gripper and place it into the lid. +sub_tasks: +- subtask: Grasp the mouse box with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the mouse box into the carton with the left gripper. + subtask_index: 2 +- subtask: Place the network cable into the carton with the right gripper. + subtask_index: 3 +- subtask: Grasp the network cable with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 60 + total_frames: 17028 + fps: 30 + total_tasks: 6 + total_videos: 240 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 729.50 MB +frame_num: 17028 +frame_range: 100K +dataset_size: 729.50 MB +data_structure: 'Airbot_MMK2_storage_network_cable_paper_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (48 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:59 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_onion_sweet_potato.yaml b/dataset_info/Airbot_MMK2_storage_onion_sweet_potato.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5290b9169826ee6c4e7ff9eaa7fa7f6bd1d70c22 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_onion_sweet_potato.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_onion_sweet_potato +dataset_uuid: 4804e3d2-91ee-465b-83bf-0d182cc07932 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: potato +- object_name: onion +- object_name: storage_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the potato with the left gripper and place it into the storage box. Pick + up the onion with the right gripper and place it into the storage box. +sub_tasks: +- subtask: Grasp the eggplant with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the sweet potato into the left compartment of the storage box with + the left gripper. + subtask_index: 2 +- subtask: Place the eggplant into the right compartment of the storage box with the + right gripper. + subtask_index: 3 +- subtask: Grasp the sweet potato with the left gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 6502 + fps: 30 + total_tasks: 6 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 173.31 MB +frame_num: 6502 +frame_range: 10K +dataset_size: 173.31 MB +data_structure: 'Airbot_MMK2_storage_onion_sweet_potato_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_paper_box_sponge.yaml b/dataset_info/Airbot_MMK2_storage_paper_box_sponge.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27f4919136f6290081fa55b3942602c98a021fb6 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_paper_box_sponge.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_paper_box_sponge +dataset_uuid: e84bd245-1e63-489c-a3b9-a2eb8999cd2c +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: small_black_boxes +- object_name: cleaning_sponge +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the box with the left gripper and the sponge with the right gripper into the + plate respectively. +sub_tasks: +- subtask: Grasp the sponge with the right gripper. + subtask_index: 0 +- subtask: Place the sponge on the white plate with the right gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Place the box on the white plate with the left gripper. + subtask_index: 5 +- subtask: Grasp the box with the left gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 9624 + fps: 30 + total_tasks: 8 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 304.39 MB +frame_num: 9624 +frame_range: 10K +dataset_size: 304.39 MB +data_structure: 'Airbot_MMK2_storage_paper_box_sponge_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_peach_pear.yaml b/dataset_info/Airbot_MMK2_storage_peach_pear.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dde422ec854509281f5fa18fad5d537cc065e4a6 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_peach_pear.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_peach_pear +dataset_uuid: c48b833c-02bd-4fd5-a2c2-5b03bf2c2936 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: pear +- object_name: peach +- object_name: storage_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the peach with the left gripper and place it into the storage box. Pick + up the pear with the right gripper and place it into the storage box. +sub_tasks: +- subtask: Grasp a peach with the left gripper. + subtask_index: 0 +- subtask: Grasp a pear with the right gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Place the peach into the left compartment of the storage box with the left + gripper. + subtask_index: 3 +- subtask: Place the pear into the right compartment of the storage box with the right + gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 12 + total_frames: 2804 + fps: 30 + total_tasks: 7 + total_videos: 48 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 114.17 MB +frame_num: 2804 +frame_range: 10K +dataset_size: 114.17 MB +data_structure: 'Airbot_MMK2_storage_peach_pear_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:11 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_penguin_doll_tiger_doll.yaml b/dataset_info/Airbot_MMK2_storage_penguin_doll_tiger_doll.yaml new file mode 100644 index 0000000000000000000000000000000000000000..72b7ea2dd7dc3b57759c902c8127ed3e7561c7c7 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_penguin_doll_tiger_doll.yaml @@ -0,0 +1,481 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_penguin_doll_tiger_doll +dataset_uuid: a434db58-04cd-4cd6-b8af-ce5a5d0e7377 +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: doll +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the doll on the plate with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the penguin doll with the left gripper. + subtask_index: 1 +- subtask: Grasp the tiger doll with the right gripper. + subtask_index: 2 +- subtask: Place the penguin doll into the white basket with the left gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Place the tiger doll into the white basket with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 13342 + fps: 30 + total_tasks: 7 + total_videos: 400 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 424.11 MB +frame_num: 13342 +frame_range: 100K +dataset_size: 424.11 MB +data_structure: 'Airbot_MMK2_storage_penguin_doll_tiger_doll_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_pineapple.yaml b/dataset_info/Airbot_MMK2_storage_pineapple.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8d07cc9634d7e87bb711bb6b4881bee5e35f236d --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_pineapple.yaml @@ -0,0 +1,476 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_pineapple +dataset_uuid: 233c1864-1e2e-4e3b-ba03-b1aad7b7ead0 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: pineapple +- object_name: storage_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the pineapple with the right gripper and place it into the storage box. +sub_tasks: +- subtask: Place the pineapple into the storage box with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the pineapple with the right gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 5219 + fps: 30 + total_tasks: 4 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 140.78 MB +frame_num: 5219 +frame_range: 10K +dataset_size: 140.78 MB +data_structure: 'Airbot_MMK2_storage_pineapple_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_potato_left.yaml b/dataset_info/Airbot_MMK2_storage_potato_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a259c7ab8a8f18bd3dffcf8e929724163b565de2 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_potato_left.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_potato_left +dataset_uuid: 0beaf8a8-4e3f-487a-8514-d6616574fb27 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: potato +- object_name: storage_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the potato with the left gripper and place it into the storage box. +sub_tasks: +- subtask: Grasp the potato with the right gripper. + subtask_index: 0 +- subtask: Grasp the potato with the left gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Place the potato into the left compartment of the storage box with the + left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: Place the potato into the right compartment of the storage box with the + right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 69 + total_frames: 8728 + fps: 30 + total_tasks: 8 + total_videos: 276 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 322.29 MB +frame_num: 8728 +frame_range: 10K +dataset_size: 322.29 MB +data_structure: 'Airbot_MMK2_Airbot_MMK2_storage_potato_left_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (57 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:68 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_potato_pumpkin.yaml b/dataset_info/Airbot_MMK2_storage_potato_pumpkin.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4e16afdbc57e2bca814ba9c3a4e55d8b3d1fc1a8 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_potato_pumpkin.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_potato_pumpkin +dataset_uuid: dce6729c-feae-41cc-8efe-113203a6fabe +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: potato +- object_name: pumpkin +- object_name: storage_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the potato with the left gripper and place it into the storage box. Pick + up the pumpkin with the right gripper and place it into the storage box. +sub_tasks: +- subtask: Grasp the pumpkin with the right gripper. + subtask_index: 0 +- subtask: Grasp the potato with the left gripper. + subtask_index: 1 +- subtask: Place the potato into the left compartment of the storage box with the + left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the pumpkin into the right compartment of the storage box with the + right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- pick +- place +- grasp +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 41 + total_frames: 9965 + fps: 30 + total_tasks: 6 + total_videos: 164 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 288.96 MB +frame_num: 9965 +frame_range: 10K +dataset_size: 288.96 MB +data_structure: 'Airbot_MMK2_Airbot_MMK2_storage_potato_pumpkin_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (29 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:40 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_pumpkin_left.yaml b/dataset_info/Airbot_MMK2_storage_pumpkin_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3d4c0689c2537a58f9f04df150c69657ead9425a --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_pumpkin_left.yaml @@ -0,0 +1,480 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_pumpkin_left +dataset_uuid: 4b35f9dc-0d0b-48f9-810b-f19a56192394 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: pumpkin +- object_name: bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the pumpkin with the left gripper and place it into the bowl with the left + gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Static. + subtask_index: 1 +- subtask: Grasp the pumpkin with the left gripper. + subtask_index: 2 +- subtask: Place the pumpkin on the pink bowl with the left gripper. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 6026 + fps: 30 + total_tasks: 5 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 227.23 MB +frame_num: 6026 +frame_range: 10K +dataset_size: 227.23 MB +data_structure: 'Airbot_MMK2_Airbot_MMK2_storage_pumpkin_left_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_pumpkin_right.yaml b/dataset_info/Airbot_MMK2_storage_pumpkin_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db13aafe2d83f699cdb455a7c931437402deea7d --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_pumpkin_right.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_pumpkin_right +dataset_uuid: 1836e21b-d90e-4253-bda7-dd36cff7f7d6 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: pumpkin +- object_name: storage_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the pumpkin with the right gripper and place it into the storage box. +sub_tasks: +- subtask: Place the pumpkin into the right compartment of the storage box. + subtask_index: 0 +- subtask: Place the pumpkin into the right compartment of the storage box with the + right gripper. + subtask_index: 1 +- subtask: Grasp the pumpkin with the right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Static. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- place +- pick +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 12358 + fps: 30 + total_tasks: 6 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 463.33 MB +frame_num: 12358 +frame_range: 100K +dataset_size: 463.33 MB +data_structure: 'Airbot_MMK2_Airbot_MMK2_storage_pumpkin_right_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_remote_control_clip_box_water_bottle.yaml b/dataset_info/Airbot_MMK2_storage_remote_control_clip_box_water_bottle.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f1c024595dc1c67af0a2050dc93c724b47fa7801 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_remote_control_clip_box_water_bottle.yaml @@ -0,0 +1,492 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_remote_control_clip_box_water_bottle +dataset_uuid: 993b81b9-2ebd-44d7-933c-d6d77b2851db +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: remote_control_gripper +- object_name: mineral_water_bottle +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the remote control with the left gripper. At the same time, the right gripper + picks up the mineral water bottle. The left gripper then places it into the box. + The right gripper does the same. +sub_tasks: +- subtask: Place the water bottle into the cardboard box with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: Lift the water bottle with the right gripper. + subtask_index: 3 +- subtask: Grasp the remote control clip with the left gripper. + subtask_index: 4 +- subtask: Lift the remote control clip with the left gripper. + subtask_index: 5 +- subtask: Place the remote control clip into the cardboard box with the left gripper. + subtask_index: 6 +- subtask: Abnormal. + subtask_index: 7 +- subtask: Grasp the water bottle with the right gripper. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 9890 + fps: 30 + total_tasks: 10 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 478.85 MB +frame_num: 9890 +frame_range: 10K +dataset_size: 478.85 MB +data_structure: 'AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_rubiks_cube_and_cup.yaml b/dataset_info/Airbot_MMK2_storage_rubiks_cube_and_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..76918a6c4c17b3b709d6a7dbb6905274ba128982 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_rubiks_cube_and_cup.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_rubiks_cube_and_cup +dataset_uuid: a274e48b-ea08-49bb-a762-da873baef867 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: rubiks_cube +- object_name: circular_tray +- object_name: paper_cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the Rubik's cube onto the circular tray with the right gripper. Place the + paper cup on top of the Rubik's cube with the left gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the paper cup on the magic cube with the left gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Grasp the magic cube with the right gripper. + subtask_index: 3 +- subtask: Place the magic cube on the plate with the right gripper. + subtask_index: 4 +- subtask: Grasp the paper cup with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 13979 + fps: 30 + total_tasks: 7 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 392.18 MB +frame_num: 13979 +frame_range: 100K +dataset_size: 392.18 MB +data_structure: 'AIRBOT_MMK2_storage_rubiks_cube_and_cup_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:47 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_shark_doll.yaml b/dataset_info/Airbot_MMK2_storage_shark_doll.yaml new file mode 100644 index 0000000000000000000000000000000000000000..08367c1f3f8e36812823461ac5c884443500ff7d --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_shark_doll.yaml @@ -0,0 +1,479 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_shark_doll +dataset_uuid: 9e254ff3-e75f-44d3-82df-6f087afc4595 +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: shark_doll +- object_name: lid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the shark doll with the gripper and place it into the lid. +sub_tasks: +- subtask: Place the whale on the white lid with the right gripper. + subtask_index: 0 +- subtask: Grasp the whale with the left gripper. + subtask_index: 1 +- subtask: Deliver the whale from left gripper to right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 93 + total_frames: 13034 + fps: 30 + total_tasks: 5 + total_videos: 372 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 461.35 MB +frame_num: 13034 +frame_range: 100K +dataset_size: 461.35 MB +data_structure: 'Airbot_MMK2_storage_shark_doll_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (81 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:92 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_sponge_wet_wipes.yaml b/dataset_info/Airbot_MMK2_storage_sponge_wet_wipes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..97efbe701d78831d504c92950922ca407a195730 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_sponge_wet_wipes.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_sponge_wet_wipes +dataset_uuid: 5eea93c4-9725-42d9-998c-dea56e237b05 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: sponge +- object_name: wet_wipe +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the sponge and wet wipes with both grippers simultaneously, and place them + into the basket with both grippers at the same time. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Place the sponge into the white basket with the left gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: Grasp the sponge with the left gripper. + subtask_index: 3 +- subtask: Place the wet wipes into the white basket with the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Grasp the wet wipes with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 40 + total_frames: 4690 + fps: 30 + total_tasks: 8 + total_videos: 160 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 191.15 MB +frame_num: 4690 +frame_range: 10K +dataset_size: 191.15 MB +data_structure: 'Airbot_MMK2_storage_sponge_wet_wipes_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (28 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:39 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_spoon.yaml b/dataset_info/Airbot_MMK2_storage_spoon.yaml new file mode 100644 index 0000000000000000000000000000000000000000..417671dfa81250d9e429a2a3ade9f6446dd7a2c9 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_spoon.yaml @@ -0,0 +1,480 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_spoon +dataset_uuid: ff15e742-3334-4d3d-a9fd-8d33be6c0bdd +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: spoon +- object_name: basin +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the spoons on the table by hand and place them into the basin. +sub_tasks: +- subtask: Grasp the spoon with the right gripper + subtask_index: 0 +- subtask: End + subtask_index: 1 +- subtask: Grasp the spoon with the left gripper + subtask_index: 2 +- subtask: Place the spoon into the basin with the right gripper + subtask_index: 3 +- subtask: Place the spoon into the basin with the left gripper + subtask_index: 4 +- subtask: 'null' + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 54 + total_frames: 15550 + fps: 30 + total_tasks: 6 + total_videos: 216 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 509.65 MB +frame_num: 15550 +frame_range: 100K +dataset_size: 509.65 MB +data_structure: 'Airbot_MMK2_storage_spoon_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (42 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:53 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_stationery_xylophone.yaml b/dataset_info/Airbot_MMK2_storage_stationery_xylophone.yaml new file mode 100644 index 0000000000000000000000000000000000000000..382bfbcc6d556c873a8ac1c56e256cac09c5de1e --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_stationery_xylophone.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_stationery_xylophone +dataset_uuid: 87a3d98d-4d3c-4207-9a54-b6f83bbb443a +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: xylophone +- object_name: stationery +- object_name: lid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the xylophone with the left gripper and place it into the lid. Pick up the + stationery with the right gripper and place it into the lid. +sub_tasks: +- subtask: Grasp the xylophone with the left gripper. + subtask_index: 0 +- subtask: Place the xylophone on the white lid with the left gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Place the tongs on the white lid with the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Grasp the tongs with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 24223 + fps: 30 + total_tasks: 8 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 791.73 MB +frame_num: 24223 +frame_range: 100K +dataset_size: 791.73 MB +data_structure: 'Airbot_MMK2_storage_stationery_xylophone_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_tape_measure_umbrella.yaml b/dataset_info/Airbot_MMK2_storage_tape_measure_umbrella.yaml new file mode 100644 index 0000000000000000000000000000000000000000..51ec20bb1c26a6541c91823f31fbb9ff617debbd --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_tape_measure_umbrella.yaml @@ -0,0 +1,483 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_tape_measure_umbrella +dataset_uuid: a357edff-b19c-4328-a394-3ec7aab1f492 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: basin +- object_name: tape_measure +- object_name: umbrella +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the tape measure and the umbrella into the basin with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the tape measure with the right gripper. + subtask_index: 1 +- subtask: Grasp the umbrella with the left gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Place the umbrella in the white basket with the left gripper. + subtask_index: 4 +- subtask: Place the tape measure in the white basket with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 40 + total_frames: 7112 + fps: 30 + total_tasks: 7 + total_videos: 160 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 236.13 MB +frame_num: 7112 +frame_range: 10K +dataset_size: 236.13 MB +data_structure: 'Airbot_MMK2_storage_tape_measure_umbrella_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (28 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:39 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_tissue_and_milk_carton.yaml b/dataset_info/Airbot_MMK2_storage_tissue_and_milk_carton.yaml new file mode 100644 index 0000000000000000000000000000000000000000..62d99014ed096494f4b47cb182e0012c183035b2 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_tissue_and_milk_carton.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_tissue_and_milk_carton +dataset_uuid: 65bf2295-305d-4c59-aac7-0ce3349acaf9 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: tissue_paper +- object_name: lid +- object_name: milk_carton +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the tissue paper on the white lid with the left gripper. Place the milk carton + with the straw on top of the white lid with the right gripper. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Grasp the tissue with the left gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the tissue on the white basket with the left gripper. + subtask_index: 4 +- subtask: Grasp the milk with the right gripper. + subtask_index: 5 +- subtask: Place the milk on the white basket with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 9751 + fps: 30 + total_tasks: 8 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 338.35 MB +frame_num: 9751 +frame_range: 10K +dataset_size: 338.35 MB +data_structure: 'AIRBOT_MMK2_storage_tissue_and_milk_carton_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_tissue_paper.yaml b/dataset_info/Airbot_MMK2_storage_tissue_paper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d7a5c481d1d4cc6807a2302d5c01eda0cb411303 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_tissue_paper.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_tissue_paper +dataset_uuid: 22dc3be9-588c-4288-b3a3-5176c69a5f71 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: tissue_paper +- object_name: basin +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the tissue paper from the table with the left gripper and place it in the + basin. Then, pick up another pack of tissue paper from the table with the right + gripper and place it in the basin. +sub_tasks: +- subtask: Static. + subtask_index: 0 +- subtask: Place the tissue into the brown basin with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: Place the tissue into the brown basin with the right gripper. + subtask_index: 4 +- subtask: Grasp the tissue with the right gripper. + subtask_index: 5 +- subtask: Grasp the tissue with the left gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 6980 + fps: 30 + total_tasks: 8 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 211.21 MB +frame_num: 6980 +frame_range: 10K +dataset_size: 211.21 MB +data_structure: 'AIRBOT_MMK2_storage_tissue_paper_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_tissues_tub.yaml b/dataset_info/Airbot_MMK2_storage_tissues_tub.yaml new file mode 100644 index 0000000000000000000000000000000000000000..30e834fd2d0720cc54d8afb5f801d2f8f16cd80e --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_tissues_tub.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_tissues_tub +dataset_uuid: 6c2f52eb-fab4-4fe1-a387-50fd290b15c9 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: tissue_paper +- object_name: basin +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the tissues on the table with the hand and place them on the white tray + with the hand. +sub_tasks: +- subtask: Grasp the tissue with the right gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: Place the tissue into the brown basin with the right gripper. + subtask_index: 3 +- subtask: Place the tissue into the brown basin with the left gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Grasp the tissue with the left gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 6851 + fps: 30 + total_tasks: 8 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 207.42 MB +frame_num: 6851 +frame_range: 10K +dataset_size: 207.42 MB +data_structure: 'Airbot_MMK2_storage_tissues_tub_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_tomato_potato.yaml b/dataset_info/Airbot_MMK2_storage_tomato_potato.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8215e30bbd68ccd0c57eda9e17cdb03907702680 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_tomato_potato.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_tomato_potato +dataset_uuid: 91825f08-10dd-412c-8964-6152bb830156 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: potato +- object_name: tomato +- object_name: storage_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the potato with the left gripper and place it into the storage box. Pick + up the tomato with the right gripper and place it into the storage box. +sub_tasks: +- subtask: Grasp the tomato with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the potato into the left compartment of the storage box with the + left gripper. + subtask_index: 2 +- subtask: Grasp the potato with the left gripper. + subtask_index: 3 +- subtask: Place the tomato into the right compartment of the storage box with the + right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 6005 + fps: 30 + total_tasks: 6 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 161.16 MB +frame_num: 6005 +frame_range: 10K +dataset_size: 161.16 MB +data_structure: 'Airbot_MMK2_storage_tomato_potato_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_tools.yaml b/dataset_info/Airbot_MMK2_storage_tools.yaml new file mode 100644 index 0000000000000000000000000000000000000000..169606ccf0233b5cd4db5a68b18c62fb79e419b3 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_tools.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_tools +dataset_uuid: cd0a7e21-d440-45f4-b396-c9f746fc5dc7 +scene_type: + level1: industry + level2: factory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: utility_knife +- object_name: pliers +- object_name: plates +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the plier and the utility knife with the hand and place them into the white + tray. +sub_tasks: +- subtask: Place the plier into white basket with the left gripper. + subtask_index: 0 +- subtask: Grasp the plier with the left gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: Place the utility knife into white basket with the right gripper. + subtask_index: 3 +- subtask: Grasp the utility knife with the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 7910 + fps: 30 + total_tasks: 7 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 221.55 MB +frame_num: 7910 +frame_range: 10K +dataset_size: 221.55 MB +data_structure: 'Airbot_MMK2_storage_tools_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_toy_cars_and_cookies.yaml b/dataset_info/Airbot_MMK2_storage_toy_cars_and_cookies.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9be04ceb7ca0affcaad3272175b86932c1c0475b --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_toy_cars_and_cookies.yaml @@ -0,0 +1,490 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_toy_cars_and_cookies +dataset_uuid: 47323a9b-f930-4dcb-b755-7483052a8032 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: toy_car +- object_name: cookies +- object_name: lid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the red toy car with the left gripper and with the right gripper, pick up + the blue packaged cookies. With the left gripper, place the red toy car on the round + lid. With the right gripper, place the blue packaged cookies on the round lid. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Place the cookies on the pink plate with the right gripper. + subtask_index: 1 +- subtask: Place the toy car on the pink plate with the left gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Grasp the toy car with left gripper and grasp the cookies with the right + gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Lift the toy car with left gripper and lift the cookies with the right + gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 8388 + fps: 30 + total_tasks: 8 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 277.59 MB +frame_num: 8388 +frame_range: 10K +dataset_size: 277.59 MB +data_structure: 'AIRBOT_MMK2_storage_toy_cars_and_cookies_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_tumbler_umbrella.yaml b/dataset_info/Airbot_MMK2_storage_tumbler_umbrella.yaml new file mode 100644 index 0000000000000000000000000000000000000000..252e753ef4982919217d680154585baaad300a58 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_tumbler_umbrella.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_tumbler_umbrella +dataset_uuid: 5c4230ea-9483-4fc9-b96a-7e9b146ed742 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: umbrella +- object_name: tumbler +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the umbrella with the left gripper and place it into the basket. Then, pick + up the thermos with the left gripper and place it into the basket. +sub_tasks: +- subtask: Place the cup into the white basket with the right gripper. + subtask_index: 0 +- subtask: Grasp the umbrella with the left gripper. + subtask_index: 1 +- subtask: Place the umbrella into the white basket with the left gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Grasp the cup with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 14373 + fps: 30 + total_tasks: 7 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 542.59 MB +frame_num: 14373 +frame_range: 100K +dataset_size: 542.59 MB +data_structure: 'Airbot_MMK2_storage_tumbler_umbrella_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:47 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_wet_tissue_and_building_block.yaml b/dataset_info/Airbot_MMK2_storage_wet_tissue_and_building_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a29e717d6ab8b15bddb747488ddb54edd43bb290 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_wet_tissue_and_building_block.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storage_wet_tissue_and_building_block +dataset_uuid: 1479380b-b15a-4f01-b1f7-6c3842a45d84 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: wet_tissue +- object_name: building_block +- object_name: platform +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the wet wipes onto the white platform with the left gripper. Place the arched + building blocks onto the white platform with the right gripper. +sub_tasks: +- subtask: Place the arch-shaped block on the white board with the right gripper. + subtask_index: 0 +- subtask: Grasp the wet wipe with the left gripper. + subtask_index: 1 +- subtask: Place the wet wipe on the white board with the left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Grasp the arch-shaped block with the right gripper. + subtask_index: 4 +- subtask: Abnormal. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 11526 + fps: 30 + total_tasks: 7 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 335.23 MB +frame_num: 11526 +frame_range: 100K +dataset_size: 335.23 MB +data_structure: 'AIRBOT_MMK2_storage_wet_tissue_and_building_block_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_store_beauty_blender_and_building_blocks.yaml b/dataset_info/Airbot_MMK2_store_beauty_blender_and_building_blocks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..de938e92dc5b11b4ddc3a7b4c9ccc07f70e2b66a --- /dev/null +++ b/dataset_info/Airbot_MMK2_store_beauty_blender_and_building_blocks.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_store_beauty_blender_and_building_blocks +dataset_uuid: fee911a7-d998-45da-b549-b1621ca063be +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: marble +- object_name: building_blocks +- object_name: bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Throw the marble into the bowl with the left gripper, and then throw the building + blocks into the bowl with the right gripper. +sub_tasks: +- subtask: Grasp the green cuboid block with the right gripper. + subtask_index: 0 +- subtask: Place the bullet into the bowl with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the bullet with the left gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Place the green cuboid block into the bowl with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 9178 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 300.51 MB +frame_num: 9178 +frame_range: 10K +dataset_size: 300.51 MB +data_structure: 'AIRBOT_MMK2_store_beauty_blender_and_building_blocks_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_store_coffee_cups.yaml b/dataset_info/Airbot_MMK2_store_coffee_cups.yaml new file mode 100644 index 0000000000000000000000000000000000000000..38478e239ce5cd9fb56960d44f7a06b74ab6da1e --- /dev/null +++ b/dataset_info/Airbot_MMK2_store_coffee_cups.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_store_coffee_cups +dataset_uuid: 38759f00-3a88-419c-b74b-d8a66882a254 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: coffee_cup +- object_name: basin +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up a coffee cup with the left gripper and place it in the basin. Pick up another + coffee cup with the right gripper and place it in the basin. +sub_tasks: +- subtask: Grasp the cup the right gripper. + subtask_index: 0 +- subtask: place the cup in the basin with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the cup the left gripper. + subtask_index: 3 +- subtask: place the cup in the basin with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 11166 + fps: 30 + total_tasks: 6 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 444.78 MB +frame_num: 11166 +frame_range: 100K +dataset_size: 444.78 MB +data_structure: 'AIRBOT_MMK2_store_coffee_cups_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_store_peaches_and_pears.yaml b/dataset_info/Airbot_MMK2_store_peaches_and_pears.yaml new file mode 100644 index 0000000000000000000000000000000000000000..64cee4bfab28550869226c7c2acdce9a861dce22 --- /dev/null +++ b/dataset_info/Airbot_MMK2_store_peaches_and_pears.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_store_peaches_and_pears +dataset_uuid: c95d9ed0-71ed-4c90-94ec-30af0eb88215 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: peache +- object_name: pear +- object_name: compartment +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Throw the peach into the left compartment with the left gripper. Throw the pear + into the right compartment with the right gripper. +sub_tasks: +- subtask: Place the pear into the right compartment of the storage box with the right + gripper. + subtask_index: 0 +- subtask: Place the peach into the left compartment of the storage box with the left + gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Grasp a peach with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Grasp a pear with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 11276 + fps: 30 + total_tasks: 7 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 342.98 MB +frame_num: 11276 +frame_range: 100K +dataset_size: 342.98 MB +data_structure: 'AIRBOT_MMK2_store_peaches_and_pears_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:47 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_store_pomegranates_and_mangoes.yaml b/dataset_info/Airbot_MMK2_store_pomegranates_and_mangoes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f1fe84f3ce6355a5b8006ae98a0d3159e57d3130 --- /dev/null +++ b/dataset_info/Airbot_MMK2_store_pomegranates_and_mangoes.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_store_pomegranates_and_mangoes +dataset_uuid: 40eeb436-8f0b-4ef8-b835-9a9c4e510448 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pomegranate +- object_name: compartment +- object_name: mango +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Throw the pomegranate into the left compartment with the left gripper. Throw the + mango into the right compartment with the right gripper. +sub_tasks: +- subtask: Grasp a mango with the right gripper. + subtask_index: 0 +- subtask: Place the pomegranate into the left compartment of the storage box with + the left gripper. + subtask_index: 1 +- subtask: Place the mango into the right compartment of the storage box with the + right gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Grasp a pomegranate with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 44 + total_frames: 13755 + fps: 30 + total_tasks: 7 + total_videos: 176 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 494.96 MB +frame_num: 13755 +frame_range: 100K +dataset_size: 494.96 MB +data_structure: 'AIRBOT_MMK2_store_pomegranates_and_mangoes_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (32 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:43 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_store_wet_wipes_and_bowls.yaml b/dataset_info/Airbot_MMK2_store_wet_wipes_and_bowls.yaml new file mode 100644 index 0000000000000000000000000000000000000000..08e8787781cfe2d46d0864cdc8d463d89735ac07 --- /dev/null +++ b/dataset_info/Airbot_MMK2_store_wet_wipes_and_bowls.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_store_wet_wipes_and_bowls +dataset_uuid: de8bf908-6d6b-42fb-9298-29fa21a3fc8d +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bowl +- object_name: wet_tissue +- object_name: square_plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the large blue bowl on the square plate with the right gripper. Place the + wet wipes into the blue bowl with the left gripper. +sub_tasks: +- subtask: Place the bowl on the plate with the right gripper. + subtask_index: 0 +- subtask: Static. + subtask_index: 1 +- subtask: Grasp the wet wipes with the left gripper. + subtask_index: 2 +- subtask: Grasp the bowl with the right gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Place the wet wipes into the bowl with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- open +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 13058 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 425.02 MB +frame_num: 13058 +frame_range: 100K +dataset_size: 425.02 MB +data_structure: 'AIRBOT_MMK2_store_wet_wipes_and_bowls_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storge_cake_ice_cream.yaml b/dataset_info/Airbot_MMK2_storge_cake_ice_cream.yaml new file mode 100644 index 0000000000000000000000000000000000000000..228274d4a9362b276e472f16ac7b480611e683cb --- /dev/null +++ b/dataset_info/Airbot_MMK2_storge_cake_ice_cream.yaml @@ -0,0 +1,488 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_storge_cake_ice_cream +dataset_uuid: aa01c24c-2d63-4ead-8667-b6e970d92f12 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cake +- object_name: ice_cream +- object_name: plate +- object_name: bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the cake with the left gripper and the ice cream with the right gripper at + the same time. Place the cake into the bowl with the left gripper and the ice cream + on the plate with the right gripper. +sub_tasks: +- subtask: Place the ice cream into the plate with the right gripper. + subtask_index: 0 +- subtask: Grasp the ice cream with the right gripper. + subtask_index: 1 +- subtask: Grasp the cake with the left gripper. + subtask_index: 2 +- subtask: Place the cake into the bowl with the left gripper. + subtask_index: 3 +- subtask: Static. + subtask_index: 4 +- subtask: Grasp the cake from the table and with the left gripper. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 8733 + fps: 30 + total_tasks: 8 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 351.44 MB +frame_num: 8733 +frame_range: 10K +dataset_size: 351.44 MB +data_structure: 'Airbot_MMK2_storge_cake_ice_cream_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:47 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_swap_apple_cake_plate.yaml b/dataset_info/Airbot_MMK2_swap_apple_cake_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bf387e5a904512e589cad01ef76cb3b94ae9feb1 --- /dev/null +++ b/dataset_info/Airbot_MMK2_swap_apple_cake_plate.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_swap_apple_cake_plate +dataset_uuid: 17fb6420-8e3b-48eb-992e-e3d7e5749dce +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cake +- object_name: plate +- object_name: apple +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cake out of the plate with the gripper and place the apples in with + the gripper. +sub_tasks: +- subtask: Grasp the cake placed into the plate with the left gripper. + subtask_index: 0 +- subtask: Grasp the apple with the right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the cake on the table with the left gripper. + subtask_index: 3 +- subtask: Place the apple into the plate with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 6775 + fps: 30 + total_tasks: 6 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 182.10 MB +frame_num: 6775 +frame_range: 10K +dataset_size: 182.10 MB +data_structure: 'Airbot_MMK2_swap_apple_cake_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_swap_bbs_block_plate.yaml b/dataset_info/Airbot_MMK2_swap_bbs_block_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..61b893183e3fd73aa47a34834f07d2ba25989c9f --- /dev/null +++ b/dataset_info/Airbot_MMK2_swap_bbs_block_plate.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_swap_bbs_block_plate +dataset_uuid: e265606e-cedb-4294-a6cb-b8c9624476e9 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: bb_pellets +- object_name: plate +- object_name: block_pillar +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the BB balls out of the plate with the left gripper. Place them back in + with the right gripper. +sub_tasks: +- subtask: Place the green rectangular block on the plate with the right gripper. + subtask_index: 0 +- subtask: Place the bullet on the table with the left gripper. + subtask_index: 1 +- subtask: grasp the green rectangular block with the right gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: grasp the bullet on the plate and with the left gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 9449 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 295.95 MB +frame_num: 9449 +frame_range: 10K +dataset_size: 295.95 MB +data_structure: 'Airbot_MMK2_swap_bbs_block_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_swap_bbs_cake_plate.yaml b/dataset_info/Airbot_MMK2_swap_bbs_cake_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..50b13992d40b9f3da6fdb0ea38595fe14054b01c --- /dev/null +++ b/dataset_info/Airbot_MMK2_swap_bbs_cake_plate.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_swap_bbs_cake_plate +dataset_uuid: 2a51ff69-8e87-4741-a1c9-57176683a739 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: bb_pellets +- object_name: cake +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the BBS out of the plate with the left gripper. Place the cake in with the + right gripper. +sub_tasks: +- subtask: Grasp the cake on the table with the right gripper. + subtask_index: 0 +- subtask: Place the bullet on the table with the left gripper. + subtask_index: 1 +- subtask: Grasp the bullet into the plate with the left gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: Place the cake into the plate with the right gripper. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 7877 + fps: 30 + total_tasks: 8 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 384.22 MB +frame_num: 7877 +frame_range: 10K +dataset_size: 384.22 MB +data_structure: 'Airbot_MMK2_swap_bbs_cake_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_swap_bottle_wet_wipes_plate.yaml b/dataset_info/Airbot_MMK2_swap_bottle_wet_wipes_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8f6405340ca1981a46c0439ffca241e0d47f9907 --- /dev/null +++ b/dataset_info/Airbot_MMK2_swap_bottle_wet_wipes_plate.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_swap_bottle_wet_wipes_plate +dataset_uuid: fc62a1e5-4fd2-4b3f-8cf6-54d7ca06e70b +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: wipes +- object_name: water_bottle +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the bottle from the plate with the left gripper and place the wet wipes + into it with the right gripper. +sub_tasks: +- subtask: Place the wet wipes into the plate with the right gripper. + subtask_index: 0 +- subtask: Place the Vitamin B water on the table with the left gripper. + subtask_index: 1 +- subtask: Grasp the Vitamin B water in the plate with the left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Grasp the wet wipes with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 15726 + fps: 30 + total_tasks: 6 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 490.36 MB +frame_num: 15726 +frame_range: 100K +dataset_size: 490.36 MB +data_structure: 'Airbot_MMK2_swap_bottle_wet_wipes_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_swap_bread_cake_plate.yaml b/dataset_info/Airbot_MMK2_swap_bread_cake_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..273e41e48c948a23f4ae2e277a8718f84ff97940 --- /dev/null +++ b/dataset_info/Airbot_MMK2_swap_bread_cake_plate.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_swap_bread_cake_plate +dataset_uuid: 1910cd5d-1b52-49b4-8c03-60cc72b50e08 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cake +- object_name: long_bread +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cake from the plate with the left gripper and place the bread in with + the right gripper. +sub_tasks: +- subtask: Grasp the bread with the right gripper. + subtask_index: 0 +- subtask: Place the cake on the table with the left gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Place the bread into the plate with the right gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Grasp the cake on the plate with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 41 + total_frames: 11322 + fps: 30 + total_tasks: 7 + total_videos: 164 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 475.35 MB +frame_num: 11322 +frame_range: 100K +dataset_size: 475.35 MB +data_structure: 'Airbot_MMK2_swap_bread_cake_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (29 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:40 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_swap_cake_pumpkin_plate.yaml b/dataset_info/Airbot_MMK2_swap_cake_pumpkin_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0a74a6144c5f25847fa750b59e740e5e302e8e32 --- /dev/null +++ b/dataset_info/Airbot_MMK2_swap_cake_pumpkin_plate.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_swap_cake_pumpkin_plate +dataset_uuid: 06d768ad-a011-4c5a-b0ec-3d0fc8f65402 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: plate +- object_name: pumpkin +- object_name: cake +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cake with the left gripper and place the pumpkin into the container + with the right gripper. +sub_tasks: +- subtask: Grasp the cake with the left gripper. + subtask_index: 0 +- subtask: Grasp the pumpkinx with the right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the cake on the table with the left gripper. + subtask_index: 3 +- subtask: Place the pumpkin into the plate with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 13761 + fps: 30 + total_tasks: 6 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 399.31 MB +frame_num: 13761 +frame_range: 100K +dataset_size: 399.31 MB +data_structure: 'Airbot_MMK2_swap_cake_pumpkin_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_swap_cake_sponge_plate.yaml b/dataset_info/Airbot_MMK2_swap_cake_sponge_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e5a35894a2d3371621504e991882ba462c22accf --- /dev/null +++ b/dataset_info/Airbot_MMK2_swap_cake_sponge_plate.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_swap_cake_sponge_plate +dataset_uuid: f723bec6-0d7c-4120-8148-4f5786d5dbf8 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cleaning_sponge +- object_name: plate +- object_name: cake +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the sponge from the plate with the left gripper and place the cake in with + the right gripper. +sub_tasks: +- subtask: Place the sponge on the table with the left gripper. + subtask_index: 0 +- subtask: Grasp the cake from the table and with the right gripper. + subtask_index: 1 +- subtask: Grasp the sponge from the plate and with the left gripper. + subtask_index: 2 +- subtask: Place the cake into the plate with the right gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 43 + total_frames: 6675 + fps: 30 + total_tasks: 6 + total_videos: 172 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 272.19 MB +frame_num: 6675 +frame_range: 10K +dataset_size: 272.19 MB +data_structure: 'Airbot_MMK2_swap_cake_sponge_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (31 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:42 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_swap_sponge_paper_box_plate.yaml b/dataset_info/Airbot_MMK2_swap_sponge_paper_box_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f820f085e9e50229c0517afc55e554035a248a87 --- /dev/null +++ b/dataset_info/Airbot_MMK2_swap_sponge_paper_box_plate.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_swap_sponge_paper_box_plate +dataset_uuid: 77b2c99f-d75c-4deb-8cbc-b00b48b72d73 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: paper_boxes +- object_name: cleaning_sponge +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the sponge from the plate with the left gripper and place the box inside + with the right gripper. +sub_tasks: +- subtask: Place the sponge on the table with the left gripper. + subtask_index: 0 +- subtask: Grasp the mouse box with the right gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Place the mouse box into the plate with the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Grasp the sponge in the plate with the left gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 8731 + fps: 30 + total_tasks: 8 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 272.27 MB +frame_num: 8731 +frame_range: 10K +dataset_size: 272.27 MB +data_structure: 'Airbot_MMK2_swap_sponge_paper_box_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_sweep_peaper.yaml b/dataset_info/Airbot_MMK2_sweep_peaper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3a81e47d66a37c9cbc58d43b06a9f65018ad654f --- /dev/null +++ b/dataset_info/Airbot_MMK2_sweep_peaper.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_sweep_peaper +dataset_uuid: 8037db54-e149-43b0-a0f1-ab93a17b06f1 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: paper_all +- object_name: small_broom +- object_name: dustpan +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the dustpan with the left gripper and the broom with the right gripper, and + wipe the paper ball into the dustpan with the left gripper. +sub_tasks: +- subtask: Place the broom on the table with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the broom from the table with the right gripper. + subtask_index: 2 +- subtask: Grasp the dustpan from the table with the left gripper. + subtask_index: 3 +- subtask: Place the dustpan on the table with the left gripper. + subtask_index: 4 +- subtask: Abnormal. + subtask_index: 5 +- subtask: wipe the waste paper into the dustpan. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +- push +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 43106 + fps: 30 + total_tasks: 8 + total_videos: 392 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.75 GB +frame_num: 43106 +frame_range: 100K +dataset_size: 1.75 GB +data_structure: 'Airbot_MMK2_sweep_peaper_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_BBs_block.yaml b/dataset_info/Airbot_MMK2_take_BBs_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..373897593452f042aa434ca4022f73c3f32be246 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_BBs_block.yaml @@ -0,0 +1,483 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_BBs_block +dataset_uuid: b41087b8-405b-4788-837e-73e12e25d18f +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: rectangular_building_blocks +- object_name: bb_pellets +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the rectangular building blocks and bullets out of the plate with the hand + and place them on the table. +sub_tasks: +- subtask: Grasp the green rectangular block on the plate with the left gripper. + subtask_index: 0 +- subtask: Grasp the bullet on the plate with the right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: Place the bullet on the table with the right gripper. + subtask_index: 4 +- subtask: Place the green rectangular block on the table with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 43 + total_frames: 13927 + fps: 30 + total_tasks: 7 + total_videos: 172 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 449.16 MB +frame_num: 13927 +frame_range: 100K +dataset_size: 449.16 MB +data_structure: 'Airbot_MMK2_take_BBs_block_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (31 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:42 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_block.yaml b/dataset_info/Airbot_MMK2_take_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f1b5bd3f742dfb462ca50d9c98c6b14c8acd0a3c --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_block.yaml @@ -0,0 +1,481 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_block +dataset_uuid: 2834aab9-e5e1-41b3-ac2a-50e6ec5c80a5 +scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: building_blocks +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the building blocks off the white plate with the grippers. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place red rectangular block on the table with the left gripper. + subtask_index: 1 +- subtask: Grasp the red rectangular block on the plate with the left gripper. + subtask_index: 2 +- subtask: Grasp the green rectangular block on the plate with the right gripper. + subtask_index: 3 +- subtask: Place green rectangular block on the table with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 10270 + fps: 30 + total_tasks: 6 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 334.15 MB +frame_num: 10270 +frame_range: 100K +dataset_size: 334.15 MB +data_structure: 'Airbot_MMK2_take_block_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_block_both_hands.yaml b/dataset_info/Airbot_MMK2_take_block_both_hands.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5bc611f6edd33b7418a3d49951eda10a18114fd2 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_block_both_hands.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_block_both_hands +dataset_uuid: 8e09a611-8b8e-4329-8a49-62826f556e3b +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: square_building_blocks +- object_name: paper_boxes +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the building blocks with both grippers and remove them from the paper box. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the blue cube block on the paper box with the left gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: Grasp the green cube block on the paper box with the right gripper. + subtask_index: 3 +- subtask: Place the green cube block on the table with the right gripper. + subtask_index: 4 +- subtask: Place the blue cube block on the table with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 4793 + fps: 30 + total_tasks: 7 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 221.69 MB +frame_num: 4793 +frame_range: 10K +dataset_size: 221.69 MB +data_structure: 'Airbot_MMK2_take_block_both_hands_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:46 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_book.yaml b/dataset_info/Airbot_MMK2_take_book.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d43dc108c8b7bf81307923bffa90743b8b67ec2b --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_book.yaml @@ -0,0 +1,476 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_book +dataset_uuid: 3abeb6d8-15fd-4f77-b073-119a7bca865c +scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: book +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the book from the forward stack with the hand. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the book on the table with the right gripper. + subtask_index: 1 +- subtask: Hook the third book on the right with the right gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pull +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 28489 + fps: 30 + total_tasks: 4 + total_videos: 392 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.03 GB +frame_num: 28489 +frame_range: 100K +dataset_size: 1.03 GB +data_structure: 'Airbot_MMK2_take_book_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_bottle_umbrella.yaml b/dataset_info/Airbot_MMK2_take_bottle_umbrella.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0eff575491937b85f6f03eebf8c7d61e31a934af --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_bottle_umbrella.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_bottle_umbrella +dataset_uuid: 0f7c877b-ff52-40f7-972b-f59be6a928a7 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: empty_bottle +- object_name: umbrella +- object_name: lid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the umbrella off the lid with the right gripper, and then remove the bottle + from the lid with the left gripper. +sub_tasks: +- subtask: Grasp the umbrella placed on the white lid with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the Yibao placed on the white lid with the left gripper. + subtask_index: 2 +- subtask: Place the umbrella on the table with the right gripper. + subtask_index: 3 +- subtask: Place the Yibao on the table with the left gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 54 + total_frames: 18663 + fps: 30 + total_tasks: 6 + total_videos: 216 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 759.90 MB +frame_num: 18663 +frame_range: 100K +dataset_size: 759.90 MB +data_structure: 'Airbot_MMK2_take_bottle_umbrella_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (42 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:53 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_bowl_sponge.yaml b/dataset_info/Airbot_MMK2_take_bowl_sponge.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9682009d6310b5d8e2e588fc0fff26e74c6a6aac --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_bowl_sponge.yaml @@ -0,0 +1,483 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_bowl_sponge +dataset_uuid: 66dccad7-932a-4dd3-9d90-c18f6db80465 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cleaning_sponge +- object_name: bowl +- object_name: table +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the sponge and bowl with the gripper and place them on the table. +sub_tasks: +- subtask: Place the sponge on the table with the left gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Grasp the sponge on the white basket and with the left gripper. + subtask_index: 2 +- subtask: Grasp the bowl on the white basket and with the right gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Place the bowl on the table with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 42 + total_frames: 11308 + fps: 30 + total_tasks: 7 + total_videos: 168 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 373.73 MB +frame_num: 11308 +frame_range: 100K +dataset_size: 373.73 MB +data_structure: 'Airbot_MMK2_take_bowl_sponge_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (30 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:41 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_cake_both_hands.yaml b/dataset_info/Airbot_MMK2_take_cake_both_hands.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3830c8e4bc48b68fe4c9aa7e96d4f315ca20ea08 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_cake_both_hands.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_cake_both_hands +dataset_uuid: 581cf0c8-0771-4677-be82-52d98059edc8 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: chocolate_cake +- object_name: lid +- object_name: table +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cake from the basket with both grippers and place it on the table with + both grippers. +sub_tasks: +- subtask: Place the cake on the table with the right gripper. + subtask_index: 0 +- subtask: Place the cake on the table with the left gripper. + subtask_index: 1 +- subtask: Grasp the cake from the white basket with the left gripper. + subtask_index: 2 +- subtask: Grasp the cake from the white basket with the right gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 6044 + fps: 30 + total_tasks: 6 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 232.04 MB +frame_num: 6044 +frame_range: 10K +dataset_size: 232.04 MB +data_structure: 'Airbot_MMK2_take_cake_both_hands_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:47 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_cup.yaml b/dataset_info/Airbot_MMK2_take_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..53db1780f7fa2ab34e3d6b3491f8f6e56e2e8be3 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_cup.yaml @@ -0,0 +1,481 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_cup +dataset_uuid: 97af90d0-8fe7-4a51-8e48-bb6592a5bce0 +scene_type: + level1: catering + level2: cafe + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cup +- object_name: lid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cup off the white lid with the grippers and place it on the table with + the grippers. +sub_tasks: +- subtask: place the cup in the table with the left gripper. + subtask_index: 0 +- subtask: place the cup in the table with the right gripper. + subtask_index: 1 +- subtask: Grasp the cup the left gripper. + subtask_index: 2 +- subtask: Grasp the cup the right gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 35 + total_frames: 5435 + fps: 30 + total_tasks: 6 + total_videos: 140 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 169.73 MB +frame_num: 5435 +frame_range: 10K +dataset_size: 169.73 MB +data_structure: 'Airbot_MMK2_take_cup_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (23 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:34 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_dog_doll.yaml b/dataset_info/Airbot_MMK2_take_dog_doll.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4952879066403e1b3c7a3ff9b6dc4c378954faf7 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_dog_doll.yaml @@ -0,0 +1,478 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_dog_doll +dataset_uuid: 9a38fceb-aaac-4c5e-b4a3-f83c86d1e805 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: toy_dog +- object_name: lid +- object_name: table +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the toy dog from the white lid with the hand and place it on the table with + the hand. +sub_tasks: +- subtask: Place the puppy on the table with the left and right grippers. + subtask_index: 0 +- subtask: Grasp the puppy with the left and right grippers. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 6425 + fps: 30 + total_tasks: 4 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 253.24 MB +frame_num: 6425 +frame_range: 10K +dataset_size: 253.24 MB +data_structure: 'Airbot_MMK2_take_dog_doll_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_down_paper_cup.yaml b/dataset_info/Airbot_MMK2_take_down_paper_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..807f9a5be13ba9375a820b3c9ce488457073dbe7 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_down_paper_cup.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_down_paper_cup +dataset_uuid: 0c37ceb8-ce17-4a73-a167-316d17712390 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: coffee_cup +- object_name: lid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the white coffee cup off the white lid with the left gripper and the other + coffee paper cup with the right gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: place the cup in the table with the right gripper. + subtask_index: 1 +- subtask: Grasp the cup the left gripper. + subtask_index: 2 +- subtask: place the cup in the table with the left gripper. + subtask_index: 3 +- subtask: Grasp the cup the right gripper. + subtask_index: 4 +- subtask: Abnormal. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 46 + total_frames: 7169 + fps: 30 + total_tasks: 7 + total_videos: 184 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 224.62 MB +frame_num: 7169 +frame_range: 10K +dataset_size: 224.62 MB +data_structure: 'AIRBOT_MMK2_take_down_paper_cup_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (34 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:45 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_down_umbrella_and_mineral_water.yaml b/dataset_info/Airbot_MMK2_take_down_umbrella_and_mineral_water.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c72a81d6da44ab07ce2e43324832323acd5643aa --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_down_umbrella_and_mineral_water.yaml @@ -0,0 +1,527 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_down_umbrella_and_mineral_water +dataset_uuid: f02d7798-2ef4-4eb5-9f41-d9d908b80510 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: umbrella +- object_name: mineral_water +- object_name: lid +- object_name: vitamin_b_water +- object_name: egg +- object_name: cake +- object_name: box +- object_name: building_blocks +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the white umbrella off the white lid with the right gripper. Pick up the + mineral water off the white lid with the left gripper. +- Pick up the vitamin B water off the white cap with the left gripper, and then pick + up another vitamin B water off the white cap with the right gripper. +- Pick up the yellow egg with the right gripper. +- Pick up the two black cakes out of the white box with both grippers and place them + on the table. +- Pick up the blue and green cubes from the lid of the paper box with both grippers + and place them on the table. +sub_tasks: +- subtask: Place the cake on the table with the left gripper. + subtask_index: 0 +- subtask: Place the mineral water on the table with the left gripper. + subtask_index: 1 +- subtask: Grasp the umbrella on the white lid with the right gripper. + subtask_index: 2 +- subtask: Grasp the cake from the white basket with the right gripper. + subtask_index: 3 +- subtask: Grasp the vitamin B water on the white lid with the left gripper. + subtask_index: 4 +- subtask: Place the umbrella on the table with the right gripper. + subtask_index: 5 +- subtask: Grasp the blue cube block on the paper box with the left gripper. + subtask_index: 6 +- subtask: Place the green cube block on the table with the right gripper. + subtask_index: 7 +- subtask: End. + subtask_index: 8 +- subtask: Grasp the cake from the white basket with the left gripper. + subtask_index: 9 +- subtask: Place the blue cube block on the table with the left gripper. + subtask_index: 10 +- subtask: Grasp the mineral water on the white lid with the left gripper. + subtask_index: 11 +- subtask: Place the vitamin B water on the table with the right gripper. + subtask_index: 12 +- subtask: Place the vitamin B water on the table with the left gripper. + subtask_index: 13 +- subtask: Static. + subtask_index: 14 +- subtask: Place the cake on the table with the right gripper. + subtask_index: 15 +- subtask: Abnormal. + subtask_index: 16 +- subtask: Grasp the egg from the egg storage box with the right gripper. + subtask_index: 17 +- subtask: Place the egg on the table with the right gripper. + subtask_index: 18 +- subtask: Grasp the vitamin B water on the white lid with the right gripper. + subtask_index: 19 +- subtask: Grasp the green cube block on the paper box with the right gripper. + subtask_index: 20 +- subtask: null. + subtask_index: 21 +atomic_actions: +- grasp +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 212 + total_frames: 31517 + fps: 30 + total_tasks: 22 + total_videos: 848 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.16 GB +frame_num: 31517 +frame_range: 100K +dataset_size: 1.16 GB +data_structure: 'AIRBOT_MMK2_take_down_umbrella_and_mineral_water_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (200 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:211 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_drink.yaml b/dataset_info/Airbot_MMK2_take_drink.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a5d83e29fa32671dc3171d93acc40dfed8c59925 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_drink.yaml @@ -0,0 +1,488 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_drink +dataset_uuid: f135f608-0ea7-4979-a921-a15ccb146df5 +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: any_beverages +- object_name: paper_cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the drink with the hand and place it on the table. +sub_tasks: +- subtask: Place the coffee on the table with the left gripper. + subtask_index: 0 +- subtask: Place the vitamin B water on the table with the left gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Place the vitamin B water on the table with the right gripper. + subtask_index: 3 +- subtask: Place the coffee on the table with the right gripper. + subtask_index: 4 +- subtask: Grasp the vitamin B water on the white lid with the left gripper. + subtask_index: 5 +- subtask: Grasp the vitamin B water on the white lid with the right gripper. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: Grasp the coffee on the white lid with the right gripper. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 86 + total_frames: 17345 + fps: 30 + total_tasks: 10 + total_videos: 344 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 570.86 MB +frame_num: 17345 +frame_range: 100K +dataset_size: 570.86 MB +data_structure: 'Airbot_MMK2_take_drink_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (74 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:85 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_egg.yaml b/dataset_info/Airbot_MMK2_take_egg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83176f15a402cb864bd723d7768ced1f1d379d41 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_egg.yaml @@ -0,0 +1,476 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_egg +dataset_uuid: d3447a91-b679-477a-ac3a-dc8068eb8798 +scene_type: + level1: catering + level2: restaurant + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: egg_carton +- object_name: egg +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the brown eggs from the egg box with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the egg on the table with the right gripper. + subtask_index: 1 +- subtask: Grasp the egg from the egg storage box with the right gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 101 + total_frames: 18643 + fps: 30 + total_tasks: 4 + total_videos: 404 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 758.61 MB +frame_num: 18643 +frame_range: 100K +dataset_size: 758.61 MB +data_structure: 'Airbot_MMK2_take_egg_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (89 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:100 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_electronics.yaml b/dataset_info/Airbot_MMK2_take_electronics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..404272328fa4ca02feec513a92d6625cff221766 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_electronics.yaml @@ -0,0 +1,483 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_electronics +dataset_uuid: 2a1f327d-2569-4da5-9161-97377d90dbee +scene_type: + level1: industry + level2: factory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: paper_boxes +- object_name: lid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the calculator box and the mouse box off the lid with the gripper and place + them on the table with the gripper. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Place the mouse box on the table with the left gripper. + subtask_index: 1 +- subtask: Grasp the calculator box on the white lid and with the right gripper. + subtask_index: 2 +- subtask: Grasp the mouse box on the white lid and with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Place the calculator box on the table with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 13465 + fps: 30 + total_tasks: 7 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 400.22 MB +frame_num: 13465 +frame_range: 100K +dataset_size: 400.22 MB +data_structure: 'Airbot_MMK2_take_electronics_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_part_both_hands.yaml b/dataset_info/Airbot_MMK2_take_part_both_hands.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fd09bb465cbad05c7c447e135f72778ca4b17f1e --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_part_both_hands.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_part_both_hands +dataset_uuid: a4760e31-fa33-4d3f-a2a6-ed8739a0a55b +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: item +- object_name: square_building_blocks +- object_name: table +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the items off the building blocks with both grippers. Place them on the + table with both grippers. +sub_tasks: +- subtask: Grasp the steel tube on the cube block with the right gripper. + subtask_index: 0 +- subtask: Grasp the steel tube on the cube block with the left gripper. + subtask_index: 1 +- subtask: Place the steel tube on the table with the left gripper. + subtask_index: 2 +- subtask: Place the steel tube on the table with the right gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 6348 + fps: 30 + total_tasks: 6 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 239.14 MB +frame_num: 6348 +frame_range: 10K +dataset_size: 239.14 MB +data_structure: 'Airbot_MMK2_take_part_both_hands_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_the_book.yaml b/dataset_info/Airbot_MMK2_take_the_book.yaml new file mode 100644 index 0000000000000000000000000000000000000000..299cc9b184c4ac3aa964f36f3cf822d22291bc19 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_the_book.yaml @@ -0,0 +1,479 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_the_book +dataset_uuid: a04264d7-7e81-40cc-af53-0ec87db1f556 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bookshelf +- object_name: book +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Hook the book "Century" off the bookshelf with the index finger of the right gripper. +- The right gripper picked up the book "Let It Be" from the bookshelf with the index + finger. +sub_tasks: +- subtask: Lay the book down with the right gripper. + subtask_index: 0 +- subtask: grasp the book with the right gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 79 + total_frames: 9314 + fps: 30 + total_tasks: 5 + total_videos: 316 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 352.34 MB +frame_num: 9314 +frame_range: 10K +dataset_size: 352.34 MB +data_structure: 'AIRBOT_MMK2_take_the_book_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (67 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:78 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_tissues.yaml b/dataset_info/Airbot_MMK2_take_tissues.yaml new file mode 100644 index 0000000000000000000000000000000000000000..13d49ff0474c53df879b32a0ef444303ad82ceac --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_tissues.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_tissues +dataset_uuid: 798d451c-c7d1-4c5e-81fa-23730008ca1d +scene_type: + level1: other + level2: laboratory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: tissue_paper +- object_name: white_tray +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the tissue with your hand and place it on the table with the hand. +sub_tasks: +- subtask: Place the tissue on the table with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the tissue on the white lid with the right gripper. + subtask_index: 2 +- subtask: Place the tissue on the table with the left gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Grasp the tissue on the white lid with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 8995 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 280.67 MB +frame_num: 8995 +frame_range: 10K +dataset_size: 280.67 MB +data_structure: 'Airbot_MMK2_take_tissues_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_toy_car.yaml b/dataset_info/Airbot_MMK2_take_toy_car.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b34019b138ff6613ca557f0cf8ed157ee9b183ff --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_toy_car.yaml @@ -0,0 +1,483 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_toy_car +dataset_uuid: 30f8980f-f6b8-4a35-975d-2efb051487df +scene_type: + level1: other + level2: laboratory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: toy_car +- object_name: white_small_plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the toy car out of the plate with the hand and place it on the table with + the hand. +sub_tasks: +- subtask: Grasp the toy car on the plate and with the left gripper. + subtask_index: 0 +- subtask: Grasp the toy car on the plate and with the right gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the toy car on the table with the right gripper. + subtask_index: 4 +- subtask: Place the toy car on the table with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 49 + total_frames: 14333 + fps: 30 + total_tasks: 7 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 457.74 MB +frame_num: 14333 +frame_range: 100K +dataset_size: 457.74 MB +data_structure: 'Airbot_MMK2_take_toy_car_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:48 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_the_cup_is_put_into_the_bucket.yaml b/dataset_info/Airbot_MMK2_the_cup_is_put_into_the_bucket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bb6a5e8d5fafd6afb7562a73192d7be4d4cd52c4 --- /dev/null +++ b/dataset_info/Airbot_MMK2_the_cup_is_put_into_the_bucket.yaml @@ -0,0 +1,487 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_the_cup_is_put_into_the_bucket +dataset_uuid: 3d103654-86bc-4dae-b569-be335fe5d8df +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: paper_cup +- object_name: bucket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the same white paper cup with both grippers. Place the cup from the left + gripper into the yellow bucket, then place the cup from the right gripper in. +sub_tasks: +- subtask: Lift the cup the right gripper. + subtask_index: 0 +- subtask: Static. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the cup the right gripper. + subtask_index: 3 +- subtask: Lift the cup the left gripper. + subtask_index: 4 +- subtask: Grasp the cup the left gripper. + subtask_index: 5 +- subtask: place the cup in the yellow basket with the right gripper. + subtask_index: 6 +- subtask: place the cup in the yellow basket with the left gripper. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- open +robot_name: Airbot_MMK2 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 9335 + fps: 30 + total_tasks: 9 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 369.40 MB +frame_num: 9335 +frame_range: 10K +dataset_size: 369.40 MB +data_structure: 'AIRBOT_MMK2_the_cup_is_put_into_the_bucket_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_toy_storage.yaml b/dataset_info/Airbot_MMK2_toy_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4e76c71f7ba1ba58584ae7a63243f59fc3d729f9 --- /dev/null +++ b/dataset_info/Airbot_MMK2_toy_storage.yaml @@ -0,0 +1,505 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_toy_storage +dataset_uuid: 38eb75f9-27a2-42df-817f-90d75b91a582 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: little_dog_doll +- object_name: plate +- object_name: shark_doll +- object_name: lid +- object_name: building_block +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the little dog doll on the white plate with both grippers and place it on + the table. +- Pick up the shark doll on the table with the left gripper and hand it to the right + gripper. The right gripper took the shark doll and placed it in the white lid with + the right gripper. +- Pick up the building block with the left gripper and place it in the pink plate + on the left. Place the other building block into the white plate on the right with + the right gripper. +- Pick up the shark doll on the table with both grippers and place it in the white + lid. +sub_tasks: +- subtask: Grasp the whale with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the puppy on the table with the left and right grippers. + subtask_index: 2 +- subtask: Grasp the puppy with the left and right grippers. + subtask_index: 3 +- subtask: Static. + subtask_index: 4 +- subtask: Grasp the large green cube block with the left gripper. + subtask_index: 5 +- subtask: Place the whale on the white lid with the right gripper. + subtask_index: 6 +- subtask: Grasp the large red cube block with the right gripper. + subtask_index: 7 +- subtask: Place the large green cube block on the pink plate with the left gripper. + subtask_index: 8 +- subtask: Place the large red cube block on the white lid with the right gripper. + subtask_index: 9 +- subtask: Deliver the whale from left gripper to right gripper. + subtask_index: 10 +- subtask: null. + subtask_index: 11 +atomic_actions: +- grasp +- pick +- place +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_third_view +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_third_view: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 199 + total_frames: 28709 + fps: 30 + total_tasks: 12 + total_videos: 796 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.06 GB +frame_num: 28709 +frame_range: 100K +dataset_size: 1.06 GB +data_structure: 'AIRBOT_MMK2_toy_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (187 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | |-- observation.images.cam_right_wrist_rgb + + | `-- observation.images.cam_third_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:198 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_turn_page.yaml b/dataset_info/Airbot_MMK2_turn_page.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ff3d9a528a9a72516b005fe3230ba625542fffef --- /dev/null +++ b/dataset_info/Airbot_MMK2_turn_page.yaml @@ -0,0 +1,473 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_turn_page +dataset_uuid: bf863460-76b7-48a1-ba83-88cac8e5bb8f +scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: book +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Rotate the page of the English book on the table with the right gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: rotate the book to the next page with the right gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- flip +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 149 + total_frames: 19581 + fps: 30 + total_tasks: 4 + total_videos: 596 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 740.91 MB +frame_num: 19581 +frame_range: 100K +dataset_size: 740.91 MB +data_structure: 'Airbot_MMK2_turn_page_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (137 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:148 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_unplug.yaml b/dataset_info/Airbot_MMK2_unplug.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0b0a6970fded71ff85e40b9be438dc441c8f4094 --- /dev/null +++ b/dataset_info/Airbot_MMK2_unplug.yaml @@ -0,0 +1,482 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_unplug +dataset_uuid: 491dfaec-bdf8-4338-94ce-d0fe7f832dab +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: power_strips +- object_name: charger +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Secure the power strip with the left gripper, while the right gripper unplugs the + charger and sets it down. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: drop socket with the left gripper. + subtask_index: 1 +- subtask: place down plug with the right gripper. + subtask_index: 2 +- subtask: Press and grasp the socket with the left gripper. + subtask_index: 3 +- subtask: Unplug plug with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- open +- press +- place +- pick +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 90 + total_frames: 21487 + fps: 30 + total_tasks: 6 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 870.73 MB +frame_num: 21487 +frame_range: 100K +dataset_size: 870.73 MB +data_structure: 'Airbot_MMK2_unplug_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (78 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:89 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_unscrew_bottle_cap.yaml b/dataset_info/Airbot_MMK2_unscrew_bottle_cap.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2ee8428ccb27e4d3992e24d396edb5487acfb829 --- /dev/null +++ b/dataset_info/Airbot_MMK2_unscrew_bottle_cap.yaml @@ -0,0 +1,481 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_unscrew_bottle_cap +dataset_uuid: f51f8958-9f1d-4622-ae83-4caf83a5fb44 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: beverages +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the bottle with the left gripper and unscrew the cap with the right gripper. +sub_tasks: +- subtask: Grasp the bottle with the left gripper. + subtask_index: 0 +- subtask: Place the bottle on the table with the left gripper. + subtask_index: 1 +- subtask: Lift the bottle up with the left gripper. + subtask_index: 2 +- subtask: Unscrew the bottle cap with the right gripper while holding the bottle + with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +- rotate +robot_name: Airbot_MMK2 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 16965 + fps: 30 + total_tasks: 6 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 632.70 MB +frame_num: 16965 +frame_range: 100K +dataset_size: 632.70 MB +data_structure: 'Airbot_MMK2_unscrew_bottle_cap_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_arrange_baai_then_brain.yaml b/dataset_info/Galaxea_R1_Lite_arrange_baai_then_brain.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ae47b9e65b74c766d1cc146649daa0a812e854d9 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_arrange_baai_then_brain.yaml @@ -0,0 +1,490 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_arrange_baai_then_brain +dataset_uuid: a6587a74-4705-422e-a07e-ce05e62b34e8 +scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: early_education_toys +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Find blocks with the letters b, a, a, and i on the table with the gripper and arrange + them into BAAI. Find the letters r and N with the gripper and rotate the arranged + BAAI into Brian. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Place the second block A in the third location. + subtask_index: 1 +- subtask: Place the block I in the fourth location. + subtask_index: 2 +- subtask: Place the first block A in the second location. + subtask_index: 3 +- subtask: Place the block B in the first location. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Move the block A out of the second location. + subtask_index: 6 +- subtask: Place the block N in the fifth location. + subtask_index: 7 +- subtask: Place the block R in the second location. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 56 + total_frames: 44471 + fps: 30 + total_tasks: 10 + total_videos: 224 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.26 GB +frame_num: 44471 +frame_range: 100K +dataset_size: 1.26 GB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_arrange_baai_then_brain_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (44 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:55 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_boil_water_in_a_kettle.yaml b/dataset_info/Galaxea_R1_Lite_boil_water_in_a_kettle.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4bc923338b7d839a38f9ce205db0ce9561a0a9fe --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_boil_water_in_a_kettle.yaml @@ -0,0 +1,455 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_boil_water_in_a_kettle +dataset_uuid: 68764373-ee5e-45aa-ad8a-1ca6cf3e0834 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: stove_top +- object_name: boil_the_kettle +- object_name: heating_plate +- object_name: sink +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the kettle on the heating plate with the gripper. Heat it, then place it beside + the sink with the gripper. +sub_tasks: +- subtask: Start boiling water. + subtask_index: 0 +- subtask: Place it on the power base. + subtask_index: 1 +- subtask: Finish boiling water. + subtask_index: 2 +- subtask: abnormal. + subtask_index: 3 +- subtask: Place it by the sink. + subtask_index: 4 +- subtask: Pick up the kettle. + subtask_index: 5 +- subtask: pick up the kettle. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 75 + total_frames: 85792 + fps: 30 + total_tasks: 8 + total_videos: 225 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 3.88 GB +frame_num: 85792 +frame_range: 100K +dataset_size: 3.88 GB +data_structure: 'R1_Lite_boil_water_in_a_kettle_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (63 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:74 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_build_blocks.yaml b/dataset_info/Galaxea_R1_Lite_build_blocks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..137de5f3486ce0d27ddd752fd31d7cab77009f1f --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_build_blocks.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_build_blocks +dataset_uuid: a56eff90-9eaa-4804-91c6-27e733d07c46 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: blocks +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the arched building blocks in the center of the table with the gripper. Set + up the rectangular building blocks with the gripper, and then set up the triangular + building blocks with the gripper. +sub_tasks: +- subtask: Place the arch-shaped block in the center of view with the left gripper. + subtask_index: 0 +- subtask: Grasp the arch-shaped block with the left gripper. + subtask_index: 1 +- subtask: Place the triangle-shaped block onto the box-shaped block with the left + grippe. + subtask_index: 2 +- subtask: Grasp the box-shaped block with the right gripper. + subtask_index: 3 +- subtask: Place the box-shaped block onto the arch-shaped block with the right gripper. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: Grasp the triangle-shaped block with the left gripper. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- place +- pick +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 66 + total_frames: 59296 + fps: 30 + total_tasks: 9 + total_videos: 264 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 1.77 GB +frame_num: 59296 +frame_range: 100K +dataset_size: 1.77 GB +data_structure: 'R1_Lite_build_blocks_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (54 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:65 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_catch_the_water.yaml b/dataset_info/Galaxea_R1_Lite_catch_the_water.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e10f010351ac210790bd78a7db617e7f9110b5c3 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_catch_the_water.yaml @@ -0,0 +1,455 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_catch_the_water +dataset_uuid: 071ba9f6-2258-439b-82bd-6fec0968ae25 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: water_dispenser +- object_name: cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cup from the table with the gripper and place it in the drain. Turn + on the faucet and fill it with water. Turn off the faucet and place the cup back + in its original position with the gripper. +sub_tasks: +- subtask: Place the cup next to the water dispenser. + subtask_index: 0 +- subtask: abnormal. + subtask_index: 1 +- subtask: Pick up the cup. + subtask_index: 2 +- subtask: Turn off the faucet. + subtask_index: 3 +- subtask: Place it under the water dispenser. + subtask_index: 4 +- subtask: Turn on the faucet. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +- open +- close +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 148 + total_frames: 133503 + fps: 30 + total_tasks: 7 + total_videos: 444 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 5.58 GB +frame_num: 133503 +frame_range: 1M +dataset_size: 5.58 GB +data_structure: 'R1_Lite_catch_the_water_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (136 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:147 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_change_baai_into_brain.yaml b/dataset_info/Galaxea_R1_Lite_change_baai_into_brain.yaml new file mode 100644 index 0000000000000000000000000000000000000000..facbd786f69ecc145086881d4c8ab4b38533c828 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_change_baai_into_brain.yaml @@ -0,0 +1,477 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_change_baai_into_brain +dataset_uuid: 75dad2ee-672e-402a-823a-198e5e42af62 +scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: building_blocks +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Rearrange the word baai as brain with the gripper. +sub_tasks: +- subtask: Disassemble the second character A. + subtask_index: 0 +- subtask: Place the character R between first character B and third character A. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the character N after character I. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 67 + total_frames: 83804 + fps: 30 + total_tasks: 5 + total_videos: 268 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 3.61 GB +frame_num: 83804 +frame_range: 100K +dataset_size: 3.61 GB +data_structure: 'Galaxea_R1_Lite_change_baai_into_brain_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (55 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:66 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_classify_object_five.yaml b/dataset_info/Galaxea_R1_Lite_classify_object_five.yaml new file mode 100644 index 0000000000000000000000000000000000000000..32c7638443c58164f8fcfc912ef815fe4ee08ea5 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_classify_object_five.yaml @@ -0,0 +1,589 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_classify_object_five +dataset_uuid: d15273f0-dae1-4ac4-9d8c-9ff41bd02f5b +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: brown_basket +- object_name: yellow_basket +- object_name: any_fruits +- object_name: any_vegetables +- object_name: any_snacks +- object_name: any_bread +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the food in the right basket with the right gripper. Place the non-food items + in the left basket with the left gripper. +sub_tasks: +- subtask: Grasp the rubiks cube and place it in the left basket. + subtask_index: 0 +- subtask: Grasp the waffle and place it in the right basket. + subtask_index: 1 +- subtask: Grasp the soft cleanser and place it in the left basket. + subtask_index: 2 +- subtask: Grasp the back scratcher and place it in the left basket. + subtask_index: 3 +- subtask: Grasp the apple and place it in the right basket. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Grasp the white eraser and place it in the left basket. + subtask_index: 6 +- subtask: Grasp the square chewing gum and place it in the right basket. + subtask_index: 7 +- subtask: Grasp the power strip and place it in the left basket. + subtask_index: 8 +- subtask: Grasp the cleaning agent and place it in the left basket. + subtask_index: 9 +- subtask: Grasp the soda water and place it in the right basket. + subtask_index: 10 +- subtask: Grasp the spoon and place it in the left basket. + subtask_index: 11 +- subtask: Grasp the duck toys and place it in the left basket. + subtask_index: 12 +- subtask: Grasp the triangle cake and place it in the right basket. + subtask_index: 13 +- subtask: Grasp the compass and place it in the right basket. + subtask_index: 14 +- subtask: Grasp the cookie and place it in the right basket. + subtask_index: 15 +- subtask: Grasp the compass and place it in the left basket. + subtask_index: 16 +- subtask: Grasp the orange and place it in the right basket. + subtask_index: 17 +- subtask: Grasp the ballpoint pen and place it in the left basket. + subtask_index: 18 +- subtask: Grasp the round bread and place it in the right basket. + subtask_index: 19 +- subtask: Grasp the egg yolk pastry and place it in the right basket. + subtask_index: 20 +- subtask: Grasp the lemon and place it in the right basket. + subtask_index: 21 +- subtask: Grasp the soap and place it in the left basket. + subtask_index: 22 +- subtask: Grasp the washing liquid and place it in the left basket. + subtask_index: 23 +- subtask: Grasp the hard cleanser and place it in the left basket. + subtask_index: 24 +- subtask: Grasp the milk and place it in the right basket. + subtask_index: 25 +- subtask: Grasp the black marker and place it in the left basket. + subtask_index: 26 +- subtask: Grasp the banana and place it in the right basket. + subtask_index: 27 +- subtask: Grasp the black glass cup and place it in the left basket. + subtask_index: 28 +- subtask: Grasp the brush and place it in the left basket. + subtask_index: 29 +- subtask: Grasp the bath ball and place it in the left basket. + subtask_index: 30 +- subtask: Grasp the blue towel and place it in the left basket. + subtask_index: 31 +- subtask: Grasp the tea cup and place it in the left basket. + subtask_index: 32 +- subtask: Grasp the peeler and place it in the left basket. + subtask_index: 33 +- subtask: Grasp the brown towel and place it in the left basket. + subtask_index: 34 +- subtask: Grasp the peach and place it in the right basket. + subtask_index: 35 +- subtask: Abnormal. + subtask_index: 36 +- subtask: Grasp the chocolate and place it in the right basket. + subtask_index: 37 +- subtask: Grasp the grey towel and place it in the left basket. + subtask_index: 38 +- subtask: Grasp the canned cola and place it in the right basket. + subtask_index: 39 +- subtask: Grasp the tape and place it in the left basket. + subtask_index: 40 +- subtask: Grasp the bread cut and place it in the right basket. + subtask_index: 41 +- subtask: Grasp the tin and place it in the right basket. + subtask_index: 42 +- subtask: Grasp the soap and place it in the right basket. + subtask_index: 43 +- subtask: Grasp the glasses case and place it in the left basket. + subtask_index: 44 +- subtask: Grasp the yellow duck and place it in the right basket. + subtask_index: 45 +- subtask: Grasp the peach doll and place it in the right basket. + subtask_index: 46 +- subtask: Grasp the blue cup and place it in the left basket. + subtask_index: 47 +- subtask: Grasp the pen container and place it in the left basket. + subtask_index: 48 +- subtask: Grasp the red duck and place it in the left basket. + subtask_index: 49 +- subtask: Grasp the lime and place it in the right basket. + subtask_index: 50 +- subtask: Grasp the long bread and place it in the right basket. + subtask_index: 51 +- subtask: Grasp the yogurt and place it in the right basket. + subtask_index: 52 +- subtask: Grasp the potato chips and place it in the right basket. + subtask_index: 53 +- subtask: Grasp the can and place it in the right basket. + subtask_index: 54 +- subtask: Grasp the ad milk and place it in the right basket. + subtask_index: 55 +- subtask: Grasp the blue marker and place it in the left basket. + subtask_index: 56 +- subtask: null. + subtask_index: 57 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 195 + total_frames: 160875 + fps: 30 + total_tasks: 58 + total_videos: 780 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 8.91 GB +frame_num: 160875 +frame_range: 1M +dataset_size: 8.91 GB +data_structure: 'Galaxea_R1_Lite_classify_object_five_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (183 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:194 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_classify_object_four.yaml b/dataset_info/Galaxea_R1_Lite_classify_object_four.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9939aaef4c895df26ef95e20103f5b62e6d03375 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_classify_object_four.yaml @@ -0,0 +1,607 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_classify_object_four +dataset_uuid: a65b22d2-15ae-428e-90e1-e2b7ed27b5cd +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: brown_basket +- object_name: yellow_basket +- object_name: any_fruits +- object_name: any_vegetables +- object_name: any_snacks +- object_name: any_bread +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the food in the right basket with the right gripper. Place the non-food items + in the left basket with the left gripper. +sub_tasks: +- subtask: Grasp the potato chips and place it in the left basket. + subtask_index: 0 +- subtask: Grasp the mineral water and place it in the right basket. + subtask_index: 1 +- subtask: Grasp the rubiks cube and place it in the left basket. + subtask_index: 2 +- subtask: Grasp the waffle and place it in the right basket. + subtask_index: 3 +- subtask: Grasp the soft cleanser and place it in the left basket. + subtask_index: 4 +- subtask: Grasp the back scratcher and place it in the left basket. + subtask_index: 5 +- subtask: Grasp the apple and place it in the right basket. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: Grasp the white eraser and place it in the left basket. + subtask_index: 8 +- subtask: Grasp the square chewing gum and place it in the right basket. + subtask_index: 9 +- subtask: Grasp the power strip and place it in the left basket. + subtask_index: 10 +- subtask: Grasp the green lemon and place it in the right basket. + subtask_index: 11 +- subtask: Grasp the coke and place it in the right basket. + subtask_index: 12 +- subtask: Grasp the cleaning agent and place it in the left basket. + subtask_index: 13 +- subtask: Grasp the soda water and place it in the right basket. + subtask_index: 14 +- subtask: Grasp the spoon and place it in the left basket. + subtask_index: 15 +- subtask: Grasp the duck toys and place it in the left basket. + subtask_index: 16 +- subtask: Grasp the triangle cake and place it in the right basket. + subtask_index: 17 +- subtask: Grasp the cookie and place it in the right basket. + subtask_index: 18 +- subtask: Grasp the yellow cake and place it in the right basket. + subtask_index: 19 +- subtask: Grasp the shower sphere and place it in the left basket. + subtask_index: 20 +- subtask: Grasp the compass and place it in the left basket. + subtask_index: 21 +- subtask: Grasp the orange and place it in the right basket. + subtask_index: 22 +- subtask: Grasp the broom and place it in the left basket. + subtask_index: 23 +- subtask: Grasp the back scratcher and place it in the right basket. + subtask_index: 24 +- subtask: Grasp the ballpoint pen and place it in the left basket. + subtask_index: 25 +- subtask: Grasp the round bread and place it in the right basket. + subtask_index: 26 +- subtask: Grasp the egg yolk pastry and place it in the right basket. + subtask_index: 27 +- subtask: Grasp the soap and place it in the left basket. + subtask_index: 28 +- subtask: Grasp the washing liquid and place it in the left basket. + subtask_index: 29 +- subtask: Grasp the hard cleanser and place it in the left basket. + subtask_index: 30 +- subtask: Grasp the milk and place it in the right basket. + subtask_index: 31 +- subtask: Grasp the black marker and place it in the left basket. + subtask_index: 32 +- subtask: Grasp the banana and place it in the right basket. + subtask_index: 33 +- subtask: Grasp the can and place it in the left basket. + subtask_index: 34 +- subtask: Grasp the black glass cup and place it in the left basket. + subtask_index: 35 +- subtask: Grasp the brush and place it in the left basket. + subtask_index: 36 +- subtask: Grasp the bath ball and place it in the left basket. + subtask_index: 37 +- subtask: Grasp the blue towel and place it in the left basket. + subtask_index: 38 +- subtask: Grasp the peeler and place it in the left basket. + subtask_index: 39 +- subtask: Grasp the brown towel and place it in the left basket. + subtask_index: 40 +- subtask: Grasp the peach and place it in the right basket. + subtask_index: 41 +- subtask: Grasp the tea cup and place it in the left basket. + subtask_index: 42 +- subtask: Grasp the round bread and place it in the left basket. + subtask_index: 43 +- subtask: Grasp the chocolate and place it in the right basket. + subtask_index: 44 +- subtask: Grasp the grey towel and place it in the left basket. + subtask_index: 45 +- subtask: Grasp the canned cola and place it in the right basket. + subtask_index: 46 +- subtask: Grasp the tape and place it in the left basket. + subtask_index: 47 +- subtask: Grasp the bread cut and place it in the right basket. + subtask_index: 48 +- subtask: Grasp the glasses case and place it in the left basket. + subtask_index: 49 +- subtask: Grasp the triangle cake and place it in the left basket. + subtask_index: 50 +- subtask: Grasp the peach doll and place it in the right basket. + subtask_index: 51 +- subtask: Grasp the blue cup and place it in the left basket. + subtask_index: 52 +- subtask: Grasp the pen container and place it in the left basket. + subtask_index: 53 +- subtask: Grasp the red duck and place it in the left basket. + subtask_index: 54 +- subtask: Grasp the long bread and place it in the right basket. + subtask_index: 55 +- subtask: Grasp the yogurt and place it in the right basket. + subtask_index: 56 +- subtask: Grasp the potato chips and place it in the right basket. + subtask_index: 57 +- subtask: Grasp the can and place it in the right basket. + subtask_index: 58 +- subtask: Grasp the egg beater and place it in the right basket. + subtask_index: 59 +- subtask: Place the cookie in the center of the table. + subtask_index: 60 +- subtask: Grasp the square chewing gum and place it in the left basket. + subtask_index: 61 +- subtask: Grasp the ad milk and place it in the right basket. + subtask_index: 62 +- subtask: Grasp the detergent and place it in the left basket. + subtask_index: 63 +- subtask: Grasp the yellow duck and place it in the left basket. + subtask_index: 64 +- subtask: Grasp the blue marker and place it in the left basket. + subtask_index: 65 +- subtask: null. + subtask_index: 66 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 191 + total_frames: 153386 + fps: 30 + total_tasks: 67 + total_videos: 764 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 8.39 GB +frame_num: 153386 +frame_range: 1M +dataset_size: 8.39 GB +data_structure: 'Galaxea_R1_Lite_classify_object_four_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (179 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:190 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_classify_object_green_tablecloth.yaml b/dataset_info/Galaxea_R1_Lite_classify_object_green_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e97b4a730c7369a7854f62149d21628a0ebec94f --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_classify_object_green_tablecloth.yaml @@ -0,0 +1,791 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_classify_object_green_tablecloth +dataset_uuid: f069d841-0c56-481d-bc0c-2fd3b25ad50c +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: brown_basket +- object_name: yellow_basket +- object_name: any_fruits +- object_name: any_vegetables +- object_name: any_snacks +- object_name: any_bread +- object_name: green_table_cloths +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the food in the right basket with the right gripper, and place the non-food + items in the left basket with the left gripper. +sub_tasks: +- subtask: Grasp the round bread and place it in the right basket. + subtask_index: 0 +- subtask: Grasp the can and place it in the right basket. + subtask_index: 1 +- subtask: Pick up the compass and place it in the left basket. + subtask_index: 2 +- subtask: Grasp the soft cleanser and place it in the left basket. + subtask_index: 3 +- subtask: Pick up the orange and place it in the right basket. + subtask_index: 4 +- subtask: Pick up the round chewing gum and place it in the right basket. + subtask_index: 5 +- subtask: Grasp the playing cards and place it in the left basket. + subtask_index: 6 +- subtask: Grasp the purple garbage bag and place it in the left basket. + subtask_index: 7 +- subtask: Place the back scratcher in the center of the table. + subtask_index: 8 +- subtask: Place the eggplant in the center of the table. + subtask_index: 9 +- subtask: Pick up the square chewing gum and place it in the right basket. + subtask_index: 10 +- subtask: Pick up the washing liquid and place it in the left basket. + subtask_index: 11 +- subtask: Grasp the red pot and place it in the left basket. + subtask_index: 12 +- subtask: Grasp the grape and place it in the right basket. + subtask_index: 13 +- subtask: Pick up the tape and place it in the left basket. + subtask_index: 14 +- subtask: Pick up the shampoo and place it in the left basket. + subtask_index: 15 +- subtask: Pick up the playing cards and place it in the left basket. + subtask_index: 16 +- subtask: Place the orange in the center of the table. + subtask_index: 17 +- subtask: Grasp the eggplant and place it in the right basket. + subtask_index: 18 +- subtask: Pick up the banana and place it in the right basket. + subtask_index: 19 +- subtask: Grasp the washing liquid and place it in the left basket. + subtask_index: 20 +- subtask: Grasp the shampoo and place it in the left basket. + subtask_index: 21 +- subtask: Place the pink bowl in the center of the table. + subtask_index: 22 +- subtask: Place the compass in the center of the table. + subtask_index: 23 +- subtask: Place the peach in the center of the table. + subtask_index: 24 +- subtask: Place the banana in the center of the table. + subtask_index: 25 +- subtask: Place the tape in the center of the table. + subtask_index: 26 +- subtask: Pick up the round bread and place it in the left basket. + subtask_index: 27 +- subtask: Pick up the tea cup and place it in the left basket. + subtask_index: 28 +- subtask: Pick up the round bread and place it in the right basket. + subtask_index: 29 +- subtask: Grasp the banana and place it in the right basket. + subtask_index: 30 +- subtask: Grasp the pear and place it in the right basket. + subtask_index: 31 +- subtask: Place the lemon and place it in the center of the table. + subtask_index: 32 +- subtask: Grasp the compass and place it in the right basket. + subtask_index: 33 +- subtask: Pick up the can and place it in the right basket. + subtask_index: 34 +- subtask: Place the red pot in the center of the table. + subtask_index: 35 +- subtask: Pick up the yellow marker and place it in the left basket. + subtask_index: 36 +- subtask: Grasp the yellow cake and place it in the right basket. + subtask_index: 37 +- subtask: Grasp the long bread and place it in the right basket. + subtask_index: 38 +- subtask: Grasp the canned cola and place it in the right basket. + subtask_index: 39 +- subtask: Grasp the glasses case and place it in the left basket. + subtask_index: 40 +- subtask: Pick up the lime and place it in the right basket. + subtask_index: 41 +- subtask: Pick up the pear and place it in the right basket. + subtask_index: 42 +- subtask: Grasp the green chewing gum and place it in the right basket. + subtask_index: 43 +- subtask: Pick up the croissant and place it in the right basket. + subtask_index: 44 +- subtask: Pick up the chinese cabbage and place it in the right basket. + subtask_index: 45 +- subtask: Place the fruit fudge in the center of the table. + subtask_index: 46 +- subtask: Grasp the white eraser and place it in the left basket. + subtask_index: 47 +- subtask: Place the yellow marker in the center of the table. + subtask_index: 48 +- subtask: Place the round chewing gum in the center of the table. + subtask_index: 49 +- subtask: Pick up the canned cola and place it in the right basket. + subtask_index: 50 +- subtask: Pick up the red pot and place it in the left basket. + subtask_index: 51 +- subtask: Place the green lemon in the center of the table. + subtask_index: 52 +- subtask: Grasp the pink marker and place it in the left basket. + subtask_index: 53 +- subtask: Place the washing liquid in the center of the table. + subtask_index: 54 +- subtask: Abnormal. + subtask_index: 55 +- subtask: Grasp the peach and place it in the right basket. + subtask_index: 56 +- subtask: Grasp the soap and place it in the left basket. + subtask_index: 57 +- subtask: Place the Red Bull in the center of the table. + subtask_index: 58 +- subtask: Place the mango in the center of the table. + subtask_index: 59 +- subtask: Grasp the fruit fudge and place it in the right basket. + subtask_index: 60 +- subtask: Grasp the bath ball and place it in the left basket. + subtask_index: 61 +- subtask: Grasp the red bull and place it in the right basket. + subtask_index: 62 +- subtask: Pick up the lemon and place it in the right basket. + subtask_index: 63 +- subtask: Grasp the chinese cabbage and place it in the right basket. + subtask_index: 64 +- subtask: Grasp the pink pot and place it in the left basket. + subtask_index: 65 +- subtask: Grasp the croissant and place it in the right basket. + subtask_index: 66 +- subtask: Grasp the soda water and place it in the right basket. + subtask_index: 67 +- subtask: Pick up the egg yolk pastry and place it in the right basket. + subtask_index: 68 +- subtask: Grasp the spoon and place it in the left basket. + subtask_index: 69 +- subtask: Grasp the blue cup and place it in the left basket. + subtask_index: 70 +- subtask: Place the blue towel in the center of the table. + subtask_index: 71 +- subtask: Place the yellow cake in the center of the table. + subtask_index: 72 +- subtask: Place the grey cup in the center of the table. + subtask_index: 73 +- subtask: Grasp the tape and place it in the left basket. + subtask_index: 74 +- subtask: Place the square chewing gum in the center of the table. + subtask_index: 75 +- subtask: Pick up the milk and place it in the right basket. + subtask_index: 76 +- subtask: Grasp the back scratcher and place it in the right basket. + subtask_index: 77 +- subtask: Grasp the yogurt and place it in the right basket. + subtask_index: 78 +- subtask: Pick up the yellow cake and place it in the right basket. + subtask_index: 79 +- subtask: Pick up the blue bowl and place it in the left basket. + subtask_index: 80 +- subtask: Grasp the lemon and place it in the right basket. + subtask_index: 81 +- subtask: Grasp the back scratcher and place it in the left basket. + subtask_index: 82 +- subtask: Grasp the orange and place it in the right basket. + subtask_index: 83 +- subtask: Pick up the soda water and place it in the right basket. + subtask_index: 84 +- subtask: Grasp the red pot and place it in the right basket. + subtask_index: 85 +- subtask: Grasp the milk and place it in the right basket. + subtask_index: 86 +- subtask: Pick up the blue cup and place it in the left basket. + subtask_index: 87 +- subtask: Pick up the mango and place it in the right basket. + subtask_index: 88 +- subtask: Place the pink marker in the center of the table. + subtask_index: 89 +- subtask: Grasp the grey cup and place it in the left basket. + subtask_index: 90 +- subtask: Pick up the long bread and place it in the right basket. + subtask_index: 91 +- subtask: Pick up the soap and place it in the left basket. + subtask_index: 92 +- subtask: Grasp the peach and place it in the left basket. + subtask_index: 93 +- subtask: Pick up the pink pot and place it in the left basket. + subtask_index: 94 +- subtask: Grasp the sausage and place it in the right basket. + subtask_index: 95 +- subtask: Pick up the yogurt and place it in the right basket. + subtask_index: 96 +- subtask: Place the bath ball in the center of the table. + subtask_index: 97 +- subtask: Grasp the square chewing gum and place it in the right basket. + subtask_index: 98 +- subtask: Grasp the ad milk and place it in the right basket. + subtask_index: 99 +- subtask: Place the pink pot in the center of the table. + subtask_index: 100 +- subtask: Grasp the compass and place it in the left basket. + subtask_index: 101 +- subtask: Place the glasses case in the center of the table. + subtask_index: 102 +- subtask: Place the gray towel in the center of the table. + subtask_index: 103 +- subtask: Pick up the back scratcher and place it in the left basket. + subtask_index: 104 +- subtask: Place the purple garbage bag in the center of the table. + subtask_index: 105 +- subtask: Place the blue cup in the center of the table. + subtask_index: 106 +- subtask: Pick up the blue towel and place it in the left basket. + subtask_index: 107 +- subtask: Place the pear in the center of the table. + subtask_index: 108 +- subtask: Place the soft cleanser in the center of the table. + subtask_index: 109 +- subtask: Grasp the egg yolk pastry and place it in the right basket. + subtask_index: 110 +- subtask: Pick up the spoon and place it in the left basket. + subtask_index: 111 +- subtask: Place the sausage in the center of the table. + subtask_index: 112 +- subtask: Place the green chewing gum in the center of the table. + subtask_index: 113 +- subtask: Pick up the peach and place it in the right basket. + subtask_index: 114 +- subtask: Place the can in the center of the table. + subtask_index: 115 +- subtask: Grasp the mango and place it in the right basket. + subtask_index: 116 +- subtask: Place the canned cola in the center of the table. + subtask_index: 117 +- subtask: Pick up the gray towel and place it in the left basket. + subtask_index: 118 +- subtask: Place the ad milk in the center of the table. + subtask_index: 119 +- subtask: Pick up the sausage and place it in the right basket. + subtask_index: 120 +- subtask: Grasp the hard cleanser and place it in the left basket. + subtask_index: 121 +- subtask: Pick up the pink marker and place it in the left basket. + subtask_index: 122 +- subtask: Grasp the detergent and place it in the left basket. + subtask_index: 123 +- subtask: Pick up the pink bowl and place it in the left basket. + subtask_index: 124 +- subtask: Grasp the Red Bull and place it in the right basket. + subtask_index: 125 +- subtask: Pick up the ad milk and place it in the right basket. + subtask_index: 126 +- subtask: Place the long bread in the center of the table. + subtask_index: 127 +- subtask: Pick up the soft cleanser and place it in the left basket. + subtask_index: 128 +- subtask: Place the croissant in the center of the table. + subtask_index: 129 +- subtask: Grasp the lime and place it in the right basket. + subtask_index: 130 +- subtask: Place the round bread in the center of the table. + subtask_index: 131 +- subtask: Pick up the green chewing gum and place it in the right basket. + subtask_index: 132 +- subtask: Grasp the pink bowl and place it in the left basket. + subtask_index: 133 +- subtask: Place the playing cards in the center of the table. + subtask_index: 134 +- subtask: Pick up the glasses case and place it in the left basket. + subtask_index: 135 +- subtask: Pick up the fruit fudge and place it in the right basket. + subtask_index: 136 +- subtask: Pick up the eggplant and place it in the right basket. + subtask_index: 137 +- subtask: Place the white eraser in the center of the table. + subtask_index: 138 +- subtask: Place the yogurt in the center of the table. + subtask_index: 139 +- subtask: Pick up the detergent and place it in the left basket. + subtask_index: 140 +- subtask: Grasp the blue towel and place it in the left basket. + subtask_index: 141 +- subtask: Pick up the red bull and place it in the right basket. + subtask_index: 142 +- subtask: Place the lime in the center of the table. + subtask_index: 143 +- subtask: Grasp the mint candy and place it in the right basket. + subtask_index: 144 +- subtask: Place the soap in the center of the table. + subtask_index: 145 +- subtask: Grasp the red marker and place it in the left basket. + subtask_index: 146 +- subtask: Pick up the purple garbage bag and place it in the left basket. + subtask_index: 147 +- subtask: Place the detergent in the center of the table. + subtask_index: 148 +- subtask: Pick up the bath ball and place it in the left basket. + subtask_index: 149 +- subtask: Grasp the gray towel and place it in the left basket. + subtask_index: 150 +- subtask: Grasp the yellow marker and place it in the left basket. + subtask_index: 151 +- subtask: Grasp the pink towel and place it in the left basket. + subtask_index: 152 +- subtask: End. + subtask_index: 153 +- subtask: Place the shampoo in the center of the table. + subtask_index: 154 +- subtask: Grasp the green lemon and place it in the right basket. + subtask_index: 155 +- subtask: Grasp the round chewing gum and place it in the right basket. + subtask_index: 156 +- subtask: null. + subtask_index: 157 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 224 + total_frames: 251221 + fps: 30 + total_tasks: 158 + total_videos: 896 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 25.62 GB +frame_num: 251221 +frame_range: 1M +dataset_size: 25.62 GB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_classify_object_green_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (212 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:223 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_classify_object_six.yaml b/dataset_info/Galaxea_R1_Lite_classify_object_six.yaml new file mode 100644 index 0000000000000000000000000000000000000000..672994d0e6839c063ae686418e326903d0485895 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_classify_object_six.yaml @@ -0,0 +1,620 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_classify_object_six +dataset_uuid: 71fc9e1d-ecc0-44ff-bfa3-ca989e94aaff +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: brown_basket +- object_name: yellow_basket +- object_name: any_fruits +- object_name: any_vegetables +- object_name: any_snacks +- object_name: any_bread +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the food in the right basket with the right gripper. Place the non-food items + in the left basket with the left gripper. +sub_tasks: +- subtask: Grasp the round bread and place it in the right basket. + subtask_index: 0 +- subtask: Grasp the small basket containing bread and place it in the right basket. + subtask_index: 1 +- subtask: Grasp the lemon and place it in the right basket. + subtask_index: 2 +- subtask: Grasp the egg yolk pastry and place it in the right basket. + subtask_index: 3 +- subtask: Grasp the can and place it in the right basket. + subtask_index: 4 +- subtask: Grasp the apple and place it in the right basket. + subtask_index: 5 +- subtask: Grasp the long bread and place it in the right basket. + subtask_index: 6 +- subtask: Grasp the canned cola and place it in the right basket. + subtask_index: 7 +- subtask: Grasp the back scratcher and place it in the left basket. + subtask_index: 8 +- subtask: Grasp the glasses case and place it in the left basket. + subtask_index: 9 +- subtask: Grasp the peeler and place it in the left basket. + subtask_index: 10 +- subtask: Grasp the cookie and place it in the right basket. + subtask_index: 11 +- subtask: Grasp the yellow duck and place it in the right basket. + subtask_index: 12 +- subtask: Grasp the cleaning agent and place it in the left basket. + subtask_index: 13 +- subtask: Grasp the soft cleanser and place it in the left basket. + subtask_index: 14 +- subtask: Grasp the waffle and place it in the right basket. + subtask_index: 15 +- subtask: Grasp the grey towel and place it in the left basket. + subtask_index: 16 +- subtask: Grasp the orange and place it in the right basket. + subtask_index: 17 +- subtask: Grasp the brown towel and place it in the left basket. + subtask_index: 18 +- subtask: Grasp the pen container and place it in the left basket. + subtask_index: 19 +- subtask: Grasp the hard cleanser and place it in the left basket. + subtask_index: 20 +- subtask: Grasp the canned cola and place it in the left basket. + subtask_index: 21 +- subtask: Grasp the triangle cake and place it in the right basket. + subtask_index: 22 +- subtask: Grasp the shower sphere and place it in the left basket. + subtask_index: 23 +- subtask: Grasp the rubiks cube and place it in the right basket. + subtask_index: 24 +- subtask: Grasp the broom and place it in the left basket. + subtask_index: 25 +- subtask: Grasp the white eraser and place it in the left basket. + subtask_index: 26 +- subtask: Grasp the milk and place it in the right basket. + subtask_index: 27 +- subtask: Grasp the lime and place it in the right basket. + subtask_index: 28 +- subtask: Grasp the brown towel and place it in the right basket. + subtask_index: 29 +- subtask: Grasp the duck toys and place it in the left basket. + subtask_index: 30 +- subtask: Grasp the power strip and place it in the left basket. + subtask_index: 31 +- subtask: Grasp the red duck and place it in the left basket. + subtask_index: 32 +- subtask: Grasp the shampoo and place it in the left basket. + subtask_index: 33 +- subtask: Grasp the yellow duck and place it in the left basket. + subtask_index: 34 +- subtask: Grasp the peach and place it in the right basket. + subtask_index: 35 +- subtask: Abnormal. + subtask_index: 36 +- subtask: Grasp the tea cup and place it in the left basket. + subtask_index: 37 +- subtask: Grasp the pink marker and place it in the left basket. + subtask_index: 38 +- subtask: Grasp the brush and place it in the left basket. + subtask_index: 39 +- subtask: Grasp the washing liquid and place it in the left basket. + subtask_index: 40 +- subtask: Place the rubiks cube in the center of the table. + subtask_index: 41 +- subtask: Grasp the soap and place it in the left basket. + subtask_index: 42 +- subtask: Grasp the grey towel and place it in the right basket. + subtask_index: 43 +- subtask: Grasp the blue marker and place it in the left basket. + subtask_index: 44 +- subtask: Grasp the black glass cup and place it in the left basket. + subtask_index: 45 +- subtask: Grasp the bath ball and place it in the left basket. + subtask_index: 46 +- subtask: Grasp the coke and place it in the right basket. + subtask_index: 47 +- subtask: Grasp the potato chips and place it in the right basket. + subtask_index: 48 +- subtask: Grasp the ballpoint pen and place it in the left basket. + subtask_index: 49 +- subtask: Grasp the rubiks cube and place it in the left basket. + subtask_index: 50 +- subtask: Grasp the square chewing gum and place it in the right basket. + subtask_index: 51 +- subtask: Grasp the glasses case and place it in the right basket. + subtask_index: 52 +- subtask: Grasp the banana and place it in the right basket. + subtask_index: 53 +- subtask: Grasp the ad milk and place it in the right basket. + subtask_index: 54 +- subtask: Grasp the soda water and place it in the right basket. + subtask_index: 55 +- subtask: Grasp the peach doll and place it in the right basket. + subtask_index: 56 +- subtask: Grasp the spoon and place it in the left basket. + subtask_index: 57 +- subtask: Grasp the blue marker and place it in the right basket. + subtask_index: 58 +- subtask: Grasp the blue cup and place it in the left basket. + subtask_index: 59 +- subtask: Grasp the compass and place it in the left basket. + subtask_index: 60 +- subtask: Grasp the chocolate and place it in the right basket. + subtask_index: 61 +- subtask: Grasp the compass and place it in the right basket. + subtask_index: 62 +- subtask: End. + subtask_index: 63 +- subtask: Grasp the tape and place it in the left basket. + subtask_index: 64 +- subtask: Grasp the peeler and place it in the right basket. + subtask_index: 65 +- subtask: Grasp the yogurt and place it in the right basket. + subtask_index: 66 +- subtask: Grasp the green lemon and place it in the right basket. + subtask_index: 67 +- subtask: Grasp the black marker and place it in the left basket. + subtask_index: 68 +- subtask: Grasp the round chewing gum and place it in the right basket. + subtask_index: 69 +- subtask: Grasp the bread cut and place it in the right basket. + subtask_index: 70 +- subtask: Grasp the square chewing gum and place it in the left basket. + subtask_index: 71 +- subtask: null. + subtask_index: 72 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 105 + total_frames: 86401 + fps: 30 + total_tasks: 73 + total_videos: 420 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 5.25 GB +frame_num: 86401 +frame_range: 100K +dataset_size: 5.25 GB +data_structure: 'Galaxea_R1_Lite_classify_object_six_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (93 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:104 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_classify_object_three.yaml b/dataset_info/Galaxea_R1_Lite_classify_object_three.yaml new file mode 100644 index 0000000000000000000000000000000000000000..380f9104f57a9fb0f153f8e2cec8f27f02275d53 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_classify_object_three.yaml @@ -0,0 +1,601 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_classify_object_three +dataset_uuid: 22564585-1cab-41a0-9e14-6d2ebe20c0ab +scene_type: + level1: retail + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: brown_basket +- object_name: yellow_basket +- object_name: any_fruits +- object_name: any_vegetables +- object_name: any_snacks +- object_name: any_bread +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the food in the right basket with the right gripper. Place the non-food items + in the left basket with the left gripper. +sub_tasks: +- subtask: Grasp the rubiks cube and place it in the left basket. + subtask_index: 0 +- subtask: Place the tape in the center of the table. + subtask_index: 1 +- subtask: Grasp the soft cleanser and place it in the left basket. + subtask_index: 2 +- subtask: Grasp the back scratcher and place it in the left basket. + subtask_index: 3 +- subtask: Grasp the apple and place it in the right basket. + subtask_index: 4 +- subtask: Grasp the yellow marker and place it in the left basket. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: Grasp the white eraser and place it in the left basket. + subtask_index: 7 +- subtask: Grasp the power strip and place it in the left basket. + subtask_index: 8 +- subtask: Grasp the square chewing gum and place it in the right basket. + subtask_index: 9 +- subtask: Grasp the cleaning agent and place it in the left basket. + subtask_index: 10 +- subtask: Grasp the blue marker pen and place it in the right basket. + subtask_index: 11 +- subtask: Grasp the soda water and place it in the right basket. + subtask_index: 12 +- subtask: Grasp the spoon and place it in the left basket. + subtask_index: 13 +- subtask: Grasp the duck toys and place it in the left basket. + subtask_index: 14 +- subtask: Grasp the blue marker pen and place it in the left basket. + subtask_index: 15 +- subtask: Grasp the shampoo and place it in the left basket. + subtask_index: 16 +- subtask: Grasp the triangle cake and place it in the right basket. + subtask_index: 17 +- subtask: Grasp the brown plate and place it in the left basket. + subtask_index: 18 +- subtask: Grasp the cookie and place it in the right basket. + subtask_index: 19 +- subtask: Grasp the yellow cake and place it in the right basket. + subtask_index: 20 +- subtask: Grasp the shower sphere and place it in the left basket. + subtask_index: 21 +- subtask: Grasp the orange and place it in the right basket. + subtask_index: 22 +- subtask: Grasp the compass and place it in the left basket. + subtask_index: 23 +- subtask: Grasp the round bread and place it in the right basket. + subtask_index: 24 +- subtask: Grasp the lemon and place it in the right basket. + subtask_index: 25 +- subtask: Grasp the egg yolk pastry and place it in the right basket. + subtask_index: 26 +- subtask: Grasp the soap and place it in the left basket. + subtask_index: 27 +- subtask: Grasp the washing liquid and place it in the left basket. + subtask_index: 28 +- subtask: Grasp the hard cleanser and place it in the left basket. + subtask_index: 29 +- subtask: Grasp the milk and place it in the right basket. + subtask_index: 30 +- subtask: Grasp the black marker and place it in the left basket. + subtask_index: 31 +- subtask: Grasp the banana and place it in the right basket. + subtask_index: 32 +- subtask: Grasp the black glass cup and place it in the left basket. + subtask_index: 33 +- subtask: Grasp the blue marker and place it in the right basket. + subtask_index: 34 +- subtask: Grasp the bath ball and place it in the left basket. + subtask_index: 35 +- subtask: Abnormal. + subtask_index: 36 +- subtask: Grasp the peeler and place it in the left basket. + subtask_index: 37 +- subtask: Grasp the brown towel and place it in the left basket. + subtask_index: 38 +- subtask: Grasp the peach and place it in the right basket. + subtask_index: 39 +- subtask: Grasp the tea cup and place it in the left basket. + subtask_index: 40 +- subtask: Grasp the brush and place it in the left basket. + subtask_index: 41 +- subtask: Grasp the chocolate and place it in the right basket. + subtask_index: 42 +- subtask: Grasp the grey towel and place it in the left basket. + subtask_index: 43 +- subtask: Place the peach doll in the center of the table. + subtask_index: 44 +- subtask: Grasp the rubiks cube and place it in the right basket. + subtask_index: 45 +- subtask: Grasp the tape and place it in the left basket. + subtask_index: 46 +- subtask: Grasp the bread cut and place it in the right basket. + subtask_index: 47 +- subtask: Grasp the glasses case and place it in the left basket. + subtask_index: 48 +- subtask: Grasp the soda water and place it in the left basket. + subtask_index: 49 +- subtask: Grasp the peach doll and place it in the right basket. + subtask_index: 50 +- subtask: Grasp the blue cup and place it in the left basket. + subtask_index: 51 +- subtask: Grasp the spoon and place it in the right basket. + subtask_index: 52 +- subtask: Grasp the pen container and place it in the left basket. + subtask_index: 53 +- subtask: Grasp the red duck and place it in the left basket. + subtask_index: 54 +- subtask: Grasp the glasses case and place it in the right basket. + subtask_index: 55 +- subtask: Grasp the long bread and place it in the right basket. + subtask_index: 56 +- subtask: Grasp the yogurt and place it in the right basket. + subtask_index: 57 +- subtask: Grasp the potato chips and place it in the right basket. + subtask_index: 58 +- subtask: Grasp the can and place it in the right basket. + subtask_index: 59 +- subtask: Grasp the long bread and place it in the left basket. + subtask_index: 60 +- subtask: Grasp the yellow duck and place it in the left basket. + subtask_index: 61 +- subtask: Grasp the coke and place it in the right basket. + subtask_index: 62 +- subtask: null. + subtask_index: 63 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 197 + total_frames: 134891 + fps: 30 + total_tasks: 64 + total_videos: 788 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 7.32 GB +frame_num: 134891 +frame_range: 1M +dataset_size: 7.32 GB +data_structure: 'Galaxea_R1_Lite_classify_object_three_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (185 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:196 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_clean_the_floor.yaml b/dataset_info/Galaxea_R1_Lite_clean_the_floor.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95bff74a19c802c266e7fb63039ea42602b82ef6 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_clean_the_floor.yaml @@ -0,0 +1,458 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_clean_the_floor +dataset_uuid: e5bd0025-b766-49f0-b99d-9321e477b362 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: floor +- object_name: rag +- object_name: carpet +- object_name: foam_cleaning_net +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Wipe the floor under the carpet with the rag. Place the cloth on the ground with + the gripper. +sub_tasks: +- subtask: abnormal. + subtask_index: 0 +- subtask: place down the rag. + subtask_index: 1 +- subtask: Pick up the foam protection net. + subtask_index: 2 +- subtask: Lift up the carpet. + subtask_index: 3 +- subtask: Place the foam protection net on the floor. + subtask_index: 4 +- subtask: Wipe the floor under the carpet with a rag. + subtask_index: 5 +- subtask: Pick up the rag. + subtask_index: 6 +- subtask: Lay down the carpet. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- pick +- place +- wipe +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 87 + total_frames: 159495 + fps: 30 + total_tasks: 9 + total_videos: 261 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 10.09 GB +frame_num: 159495 +frame_range: 1M +dataset_size: 10.09 GB +data_structure: 'R1_Lite_clean_the_floor_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (75 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:86 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_clean_the_sink.yaml b/dataset_info/Galaxea_R1_Lite_clean_the_sink.yaml new file mode 100644 index 0000000000000000000000000000000000000000..656ae029e317faced5725ea37b2cb48322f6915d --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_clean_the_sink.yaml @@ -0,0 +1,451 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_clean_the_sink +dataset_uuid: d29e439c-d1a9-41e5-ab2b-e264195dda27 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: washbasin +- object_name: faucet +- object_name: rag +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Turn on the faucet with the gripper, turn off the faucet with the gripper, wipe + the washbasin with the gripper, and place a cloth next to it with the gripper. +sub_tasks: +- subtask: Pick up the cloth. + subtask_index: 0 +- subtask: Turn on the faucet. + subtask_index: 1 +- subtask: Wipe the sink. + subtask_index: 2 +- subtask: Turn off the faucet. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +- open +- wipe +- close +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 120 + total_frames: 104391 + fps: 30 + total_tasks: 5 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 3.77 GB +frame_num: 104391 +frame_range: 1M +dataset_size: 3.77 GB +data_structure: 'R1_Lite_clean_the_sink_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (108 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:119 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_clean_toilet.yaml b/dataset_info/Galaxea_R1_Lite_clean_toilet.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a748c9b4e8c71112d429ac23592565fa97f0f0fe --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_clean_toilet.yaml @@ -0,0 +1,466 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_clean_toilet +dataset_uuid: 5a0c1792-b168-4b12-ab0b-1cdb826fce18 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: toilet +- object_name: toilet_brush +- object_name: toilet_brush_base +- object_name: toilet_cleaner +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the toilet seat with the gripper. Pour toilet cleaner into the bowl with the + gripper. Brush the toilet with the gripper and flush. Close the lid with the gripper. +sub_tasks: +- subtask: lift the toilet lid slightly. + subtask_index: 0 +- subtask: Pour in the cleaning agent. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Flush the toilet. + subtask_index: 3 +- subtask: Place the cleaning agent on the floor. + subtask_index: 4 +- subtask: place the toilet brush back. + subtask_index: 5 +- subtask: Close the toilet lid. + subtask_index: 6 +- subtask: Abnormal. + subtask_index: 7 +- subtask: Open the toilet lid. + subtask_index: 8 +- subtask: wipe the toilet bowl. + subtask_index: 9 +- subtask: fully open the toilet lid. + subtask_index: 10 +- subtask: null. + subtask_index: 11 +atomic_actions: +- grasp +- pick +- place +- close +- open +- press +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 264408 + fps: 30 + total_tasks: 12 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 11.77 GB +frame_num: 264408 +frame_range: 1M +dataset_size: 11.77 GB +data_structure: 'R1_Lite_clean_toilet_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_connect_the_router_cable.yaml b/dataset_info/Galaxea_R1_Lite_connect_the_router_cable.yaml new file mode 100644 index 0000000000000000000000000000000000000000..53aafef9224ccdf5790b76f7d360ec46f4bdf7d4 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_connect_the_router_cable.yaml @@ -0,0 +1,497 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_connect_the_router_cable +dataset_uuid: 2802db0f-0c22-4fba-b305-aae14b28e492 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: router +- object_name: socket +- object_name: cable +- object_name: plug +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Insert the plug in the socket with the gripper. Connect the cable to the router + interface with the gripper. +sub_tasks: +- subtask: Hand it to the other hand. + subtask_index: 0 +- subtask: Pick up plug. + subtask_index: 1 +- subtask: Pick up the cable. + subtask_index: 2 +- subtask: Close the lower drawer. + subtask_index: 3 +- subtask: Place the iced tea in the fridge. + subtask_index: 4 +- subtask: Open the upper fridge door. + subtask_index: 5 +- subtask: Plug it into the socket. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: Place zucchini in the lower drawer. + subtask_index: 8 +- subtask: Open the lower drawer. + subtask_index: 9 +- subtask: Deliver it to the other hand. + subtask_index: 10 +- subtask: Abnormal. + subtask_index: 11 +- subtask: Plug plug in socket. + subtask_index: 12 +- subtask: Open the plastic bag. + subtask_index: 13 +- subtask: Place pear in the lower drawer. + subtask_index: 14 +- subtask: Place the Wahaha in the fridge. + subtask_index: 15 +- subtask: Pick up cable. + subtask_index: 16 +- subtask: Close the middle refrigerator door. + subtask_index: 17 +- subtask: Open the middle refrigerator door. + subtask_index: 18 +- subtask: Place king oyster Mushroom in the lower drawer. + subtask_index: 19 +- subtask: abnormal. + subtask_index: 20 +- subtask: Plug cable into router interface. + subtask_index: 21 +- subtask: Align cable and router interface. + subtask_index: 22 +- subtask: Close the upper refrigerator door. + subtask_index: 23 +- subtask: Align plug and socket. + subtask_index: 24 +- subtask: Plug it into the receiver. + subtask_index: 25 +- subtask: Pick up the plug. + subtask_index: 26 +- subtask: null. + subtask_index: 27 +atomic_actions: +- grasp +- pick +- place +- insert +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 105 + total_frames: 165617 + fps: 30 + total_tasks: 28 + total_videos: 315 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 9.43 GB +frame_num: 165617 +frame_range: 1M +dataset_size: 9.43 GB +data_structure: 'R1_Lite_connect_the_router_cable_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (93 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:104 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_cook_a_meal.yaml b/dataset_info/Galaxea_R1_Lite_cook_a_meal.yaml new file mode 100644 index 0000000000000000000000000000000000000000..619f32a861bd21677f5523f1a438544df5d1d741 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_cook_a_meal.yaml @@ -0,0 +1,499 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_cook_a_meal +dataset_uuid: e717e360-f72c-4b13-aa1f-f10657b9b68d +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: bowl +- object_name: rice_cooker +- object_name: rice +- object_name: tap +- object_name: chopped_scallions +- object_name: water +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the rice, water, and scallions into the rice cooker with the gripper. Press + the start button with the gripper. +sub_tasks: +- subtask: Turn off the faucet with the right gripper. + subtask_index: 0 +- subtask: Pour water into the rice cooker with the left gripper. + subtask_index: 1 +- subtask: pick up the bowl with the right gripper. + subtask_index: 2 +- subtask: Turn on the faucet with the left gripper. + subtask_index: 3 +- subtask: Pour the rice from the bowl into the rice cooker. + subtask_index: 4 +- subtask: place the bowl on the table with the left gripper. + subtask_index: 5 +- subtask: Open the rice cooker with the right gripper. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: Pour the water from the bowl into the rice cooker. + subtask_index: 8 +- subtask: pick up the bowl with the left gripper. + subtask_index: 9 +- subtask: Pick up the bowl on the table. + subtask_index: 10 +- subtask: Abnormal. + subtask_index: 11 +- subtask: Close the rice cooker. + subtask_index: 12 +- subtask: Turn off the rice cooker with the both gripper. + subtask_index: 13 +- subtask: Turn off the tap. + subtask_index: 14 +- subtask: Place the bowl on the table. + subtask_index: 15 +- subtask: Turn off the faucet with the left gripper. + subtask_index: 16 +- subtask: Open the rice cooker. + subtask_index: 17 +- subtask: Pour water into the rice cooker with the right gripper. + subtask_index: 18 +- subtask: Turn on the tap. + subtask_index: 19 +- subtask: place the bowl under the faucet with the right gripper. + subtask_index: 20 +- subtask: Press the start button. + subtask_index: 21 +- subtask: place the bowl under the faucet with the left gripper. + subtask_index: 22 +- subtask: place the bowl on the table with the right gripper. + subtask_index: 23 +- subtask: Fill a bowl with water from the tap. + subtask_index: 24 +- subtask: Pour the chopped green onions from the bowl into the rice cooker. + subtask_index: 25 +- subtask: null. + subtask_index: 26 +atomic_actions: +- grasp +- pick +- place +- open +- press +- close +- flip +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 82 + total_frames: 161442 + fps: 30 + total_tasks: 27 + total_videos: 246 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 7.89 GB +frame_num: 161442 +frame_range: 1M +dataset_size: 7.89 GB +data_structure: 'R1_Lite_cook_a_meal_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (70 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:81 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_cover_the_pot_lid.yaml b/dataset_info/Galaxea_R1_Lite_cover_the_pot_lid.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f4641c2a6a0303174c187a0f2104009d40789744 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_cover_the_pot_lid.yaml @@ -0,0 +1,442 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_cover_the_pot_lid +dataset_uuid: 41489668-9cf7-44d4-ba77-a691084c63fe +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: steamer_cage +- object_name: steamer_lid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the lid of the steamer with the gripper and place it on the steamer. +sub_tasks: +- subtask: Pick up the steamer. + subtask_index: 0 +- subtask: place the steamer. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 65358 + fps: 30 + total_tasks: 3 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 4.12 GB +frame_num: 65358 +frame_range: 100K +dataset_size: 4.12 GB +data_structure: 'R1_Lite_cover_the_pot_lid_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_dispose_of_leftover_food.yaml b/dataset_info/Galaxea_R1_Lite_dispose_of_leftover_food.yaml new file mode 100644 index 0000000000000000000000000000000000000000..701d7ac44edcb7c67c1e7bba8b3a47a719093e0c --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_dispose_of_leftover_food.yaml @@ -0,0 +1,458 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_dispose_of_leftover_food +dataset_uuid: b7ae3dcc-5b70-445f-b473-3d83772d3b1b +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bowl +- object_name: garbage_bin +- object_name: leftovers +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pour leftovers from the bowl or plate into the trash can. Place back with the gripper. +sub_tasks: +- subtask: Move the bowl over the trash can. + subtask_index: 0 +- subtask: Pour the leftover food from the plate into the trash can. + subtask_index: 1 +- subtask: Pour the leftover food from the bowl into the trash can. + subtask_index: 2 +- subtask: Pick up the plate with leftover food. + subtask_index: 3 +- subtask: place the bowl back to the table. + subtask_index: 4 +- subtask: Move the plate over the trash can. + subtask_index: 5 +- subtask: Pick up the bowl with leftover food. + subtask_index: 6 +- subtask: place the plate back to the table. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- pick +- place +- flip +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 127 + total_frames: 135632 + fps: 30 + total_tasks: 9 + total_videos: 381 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 7.52 GB +frame_num: 135632 +frame_range: 1M +dataset_size: 7.52 GB +data_structure: 'R1_Lite_dispose_of_leftover_food_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (115 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:126 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_drawer_storage_hair_dryer.yaml b/dataset_info/Galaxea_R1_Lite_drawer_storage_hair_dryer.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5da010fc89f8f3c30475ab5fab2b1dc3d595adcc --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_drawer_storage_hair_dryer.yaml @@ -0,0 +1,456 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_drawer_storage_hair_dryer +dataset_uuid: 7ec2120b-9c60-40ef-901e-6526e5f7bae8 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: drawer +- object_name: hair_dryer +- object_name: washbasin +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the hair dryer from the basin into the drawer, then back into the basin with + the gripper. +sub_tasks: +- subtask: abnormal. + subtask_index: 0 +- subtask: place it into the drawer. + subtask_index: 1 +- subtask: pick up the hairdryer out. + subtask_index: 2 +- subtask: Close the drawer. + subtask_index: 3 +- subtask: Place it on the countertop. + subtask_index: 4 +- subtask: Pull open the drawer. + subtask_index: 5 +- subtask: Pick up the hairdryer. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +- push +- pull +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 145 + total_frames: 206825 + fps: 30 + total_tasks: 8 + total_videos: 435 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 9.40 GB +frame_num: 206825 +frame_range: 1M +dataset_size: 9.40 GB +data_structure: 'R1_Lite_drawer_storage_hair_dryer_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (133 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:144 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_fold_clothes.yaml b/dataset_info/Galaxea_R1_Lite_fold_clothes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..89b9d8cfe1392f848105271cf4eff83f8d32bbc2 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_fold_clothes.yaml @@ -0,0 +1,472 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_fold_clothes +dataset_uuid: f4acf7a3-cf1f-4dbd-95da-0912a42be233 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: bed +- object_name: bed_sheet +- object_name: clothes +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Fold the shirt, shorts, and sweatshirt on the bed with the gripper. Unfold them + with the gripper. +sub_tasks: +- subtask: Unford the yellow T-shirt. + subtask_index: 0 +- subtask: Unford the blue shorts. + subtask_index: 1 +- subtask: Fold the brown shorts. + subtask_index: 2 +- subtask: Unford the black T-shirt. + subtask_index: 3 +- subtask: Unfold the black sweatshirt. + subtask_index: 4 +- subtask: Fold the black T-shirt. + subtask_index: 5 +- subtask: Unford the red T-shirt. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: abnormal. + subtask_index: 8 +- subtask: Unford the brown shorts. + subtask_index: 9 +- subtask: Fold the white T-shirt. + subtask_index: 10 +- subtask: Unford the white T-shirt. + subtask_index: 11 +- subtask: Fold the yellow T-shirt. + subtask_index: 12 +- subtask: Fold the blue shorts. + subtask_index: 13 +- subtask: Fold the red T-shirt. + subtask_index: 14 +- subtask: Fold the black sweatshirt. + subtask_index: 15 +- subtask: null. + subtask_index: 16 +atomic_actions: +- grasp +- fold +- unfold +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 111 + total_frames: 283265 + fps: 30 + total_tasks: 17 + total_videos: 333 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 17.39 GB +frame_num: 283265 +frame_range: 1M +dataset_size: 17.39 GB +data_structure: 'R1_Lite_fold_clothes_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (99 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:110 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_fold_towel_twice.yaml b/dataset_info/Galaxea_R1_Lite_fold_towel_twice.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9fc5f2b210c0758a04bb78ec337d150ab7403ef8 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_fold_towel_twice.yaml @@ -0,0 +1,509 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_fold_towel_twice +dataset_uuid: eb818363-8a30-492c-8639-78589399913b +scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: gray_square_towel +- object_name: yellow_square_towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Fold the yellow towel and the grey towel in half twice with the gripper, then place + the yellow towel on top of the grey towel. +sub_tasks: +- subtask: Press the gray towel with the left gripper. + subtask_index: 0 +- subtask: Fold the yellow towel from left to right with left gripper. + subtask_index: 1 +- subtask: Press the gray towel with the right gripper. + subtask_index: 2 +- subtask: Fold the yellow towel upwards with the right gripper. + subtask_index: 3 +- subtask: Fold the gray towel from left to right with left gripper. + subtask_index: 4 +- subtask: Press the yellow towel with the right gripper. + subtask_index: 5 +- subtask: Fold the gray towel from right to left with right gripper. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: Place the yellow towel on the gray towel with the left gripper. + subtask_index: 8 +- subtask: Fold the yellow towel upwards with the left gripper. + subtask_index: 9 +- subtask: Place the grey towel on the yellow towel with the left gripper. + subtask_index: 10 +- subtask: Place the grey towel on the yellow towel with the right gripper. + subtask_index: 11 +- subtask: Fold the gray towel upwards with the right gripper. + subtask_index: 12 +- subtask: Press the yellow towel with the left gripper. + subtask_index: 13 +- subtask: Move the position of the yellow towel with the left gripper. + subtask_index: 14 +- subtask: Place the yellow towel on the gray towel with the right gripper. + subtask_index: 15 +- subtask: Fold the gray towel upwards with the left gripper. + subtask_index: 16 +- subtask: Fold the yellow towel from right to left with right gripper. + subtask_index: 17 +- subtask: null. + subtask_index: 18 +atomic_actions: +- grasp +- pick +- place +- fold +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 46 + total_frames: 50022 + fps: 30 + total_tasks: 19 + total_videos: 184 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 2.14 GB +frame_num: 50022 +frame_range: 100K +dataset_size: 2.14 GB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_fold_towel_twice_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (34 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:45 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_garbage_disposal.yaml b/dataset_info/Galaxea_R1_Lite_garbage_disposal.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4830b182f969248631e512e6569c81d67809c3f5 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_garbage_disposal.yaml @@ -0,0 +1,448 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_garbage_disposal +dataset_uuid: 3c93f53a-ad7f-446d-ab74-686039cffcdf +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: garbage +- object_name: trash_can +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the garbage from the table with the gripper and throw it into the trash + can. +sub_tasks: +- subtask: Pick up the garbage. + subtask_index: 0 +- subtask: abnromal. + subtask_index: 1 +- subtask: place the garbage in the trash can. + subtask_index: 2 +- subtask: Hand it to the other hand. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 81 + total_frames: 70054 + fps: 30 + total_tasks: 5 + total_videos: 243 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 3.66 GB +frame_num: 70054 +frame_range: 100K +dataset_size: 3.66 GB +data_structure: 'R1_Lite_garbage_disposal_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (69 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:80 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_hang_clothes.yaml b/dataset_info/Galaxea_R1_Lite_hang_clothes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..25516dcdd45daf87c3a141f96cecf946700eaa83 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_hang_clothes.yaml @@ -0,0 +1,469 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_hang_clothes +dataset_uuid: f7bbf41d-af0d-4f31-9158-8e7987fb7c9f +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: clothesline +- object_name: clothes_hanger +- object_name: clothes +- object_name: basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Hang the basket clothes on the hanger with the gripper, then pick them up with the + gripper and place them back with the gripper. +sub_tasks: +- subtask: Pick up the clothes rack on the clothesline with the right gripper. + subtask_index: 0 +- subtask: Hang the clothes rack on the clothesline with the right gripper. + subtask_index: 1 +- subtask: pick up the clothes off the clothes rack with the right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Hang the clothes on the clothes rack. + subtask_index: 4 +- subtask: place clothes into the basket with the left gripper. + subtask_index: 5 +- subtask: Pick up the clothes rack on the clothesline. + subtask_index: 6 +- subtask: Hang the clothes rack on the clothesline. + subtask_index: 7 +- subtask: Pick up clothes from the basket. + subtask_index: 8 +- subtask: pick up the clothes off the clothes rack. + subtask_index: 9 +- subtask: Hang the clothes on the clothes rack with both grippers. + subtask_index: 10 +- subtask: Pick up clothes from the basket with the left gripper. + subtask_index: 11 +- subtask: abnormal. + subtask_index: 12 +- subtask: place clothes into the basket. + subtask_index: 13 +- subtask: null. + subtask_index: 14 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 109 + total_frames: 289827 + fps: 30 + total_tasks: 15 + total_videos: 327 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 22.76 GB +frame_num: 289827 +frame_range: 1M +dataset_size: 22.76 GB +data_structure: 'R1_Lite_hang_clothes_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (97 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:108 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_make_a_landline_call.yaml b/dataset_info/Galaxea_R1_Lite_make_a_landline_call.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ba6a7bdd8e903ac7069a127ea39ae2927abf80fa --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_make_a_landline_call.yaml @@ -0,0 +1,447 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_make_a_landline_call +dataset_uuid: 0fc5b260-c949-49ab-8963-c0869de35749 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: furnitureixed_line_telephone +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Lift the phone handle with the gripper, dial the number, then replace it to end + the call. +sub_tasks: +- subtask: Pick up the desk phone handset. + subtask_index: 0 +- subtask: End the call using the dial pad. + subtask_index: 1 +- subtask: place the handset back. + subtask_index: 2 +- subtask: Dial the number. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 115 + total_frames: 86262 + fps: 30 + total_tasks: 5 + total_videos: 345 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 5.89 GB +frame_num: 86262 +frame_range: 100K +dataset_size: 5.89 GB +data_structure: 'R1_Lite_make_a_landline_call_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (103 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:114 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_make_breakfast.yaml b/dataset_info/Galaxea_R1_Lite_make_breakfast.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43cd202e4f93f86ddcbfd4fd556c0125641d91a4 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_make_breakfast.yaml @@ -0,0 +1,468 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_make_breakfast +dataset_uuid: 398b647f-5d05-4f3c-8367-2d7077c8c9fe +scene_type: + level1: household + level2: restaurant + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bread +- object_name: plate +- object_name: eggs +- object_name: bowl +- object_name: hot_water_bottle +- object_name: cup +- object_name: bread_machine +- object_name: fruit +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Bake bread with the gripper. Arrange eggs with the gripper. Pour water from the + thermos with the gripper. +sub_tasks: +- subtask: place the egg into the bowl. + subtask_index: 0 +- subtask: place the bread slices in the toaster. + subtask_index: 1 +- subtask: place the kettle back. + subtask_index: 2 +- subtask: Pour water into a cup. + subtask_index: 3 +- subtask: abnormal. + subtask_index: 4 +- subtask: place the baked bread on a plate. + subtask_index: 5 +- subtask: Use a bread toaster. + subtask_index: 6 +- subtask: place the fruit on a plate. + subtask_index: 7 +- subtask: Pick up the kettle. + subtask_index: 8 +- subtask: Pick up the egg. + subtask_index: 9 +- subtask: Pick up the bread cut. + subtask_index: 10 +- subtask: null. + subtask_index: 11 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 45 + total_frames: 105680 + fps: 30 + total_tasks: 12 + total_videos: 135 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 6.19 GB +frame_num: 105680 +frame_range: 1M +dataset_size: 6.19 GB +data_structure: 'R1_Lite_make_breakfast_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (33 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:44 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_make_tea.yaml b/dataset_info/Galaxea_R1_Lite_make_tea.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d993d21c1d4016505c3745c095f0095bd1abaea7 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_make_tea.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_make_tea +dataset_uuid: e07d0a2b-e02d-4bb2-867b-bf0afb55e958 +scene_type: + level1: household + level2: restaurant + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: water +- object_name: tea_bag +- object_name: trash_bin +- object_name: kettle +- object_name: cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the kettle with the gripper. Pour water into the teacup with the gripper. + Pass the tea bag to the other hand with the gripper. Place it in the water cup with + the gripper and pick it up with the gripper. Finally, throw the tea bag into the + desktop trash can with the gripper. +sub_tasks: +- subtask: Place the tea bag into the desktop trash can. + subtask_index: 0 +- subtask: Place the tea bag into the desktop trash can with the left gripper. + subtask_index: 1 +- subtask: Place the kettle on its original position with the left gripper. + subtask_index: 2 +- subtask: Hand it to the other hand. + subtask_index: 3 +- subtask: Pour the water from the kettle into the cup with the left gripper. + subtask_index: 4 +- subtask: Place the tea bag in and out of the cup several times with the left gripper. + subtask_index: 5 +- subtask: Grasp the tea bag with the right gripper. + subtask_index: 6 +- subtask: Lift the tea bag in and out of the cup several times. + subtask_index: 7 +- subtask: End. + subtask_index: 8 +- subtask: Pick up the kettle. + subtask_index: 9 +- subtask: Hand it with the gripper. + subtask_index: 10 +- subtask: Abnormal. + subtask_index: 11 +- subtask: Pick up the tea bag. + subtask_index: 12 +- subtask: Place the tea bag in and out of the cup several times with the right gripper. + subtask_index: 13 +- subtask: Place the kettle to its original position. + subtask_index: 14 +- subtask: Pick up the kettle with the left gripper. + subtask_index: 15 +- subtask: Pick up the kettle with the right gripper. + subtask_index: 16 +- subtask: Grasp the tea bag with the left gripper. + subtask_index: 17 +- subtask: Pour water from the kettle into the cup. + subtask_index: 18 +- subtask: Pour the water from the kettle into the cup with the right gripper. + subtask_index: 19 +- subtask: Place the kettle on its original position with the right gripper. + subtask_index: 20 +- subtask: Place the tea bag into the desktop trash can with the right gripper. + subtask_index: 21 +- subtask: null. + subtask_index: 22 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 101 + total_frames: 162473 + fps: 30 + total_tasks: 23 + total_videos: 303 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 8.97 GB +frame_num: 162473 +frame_range: 1M +dataset_size: 8.97 GB +data_structure: 'R1_Lite_make_tea_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (89 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:100 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_make_the_bed.yaml b/dataset_info/Galaxea_R1_Lite_make_the_bed.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f7435cefd2daf271b7fb38ddf2e2b543bf19831a --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_make_the_bed.yaml @@ -0,0 +1,449 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_make_the_bed +dataset_uuid: ea93521a-043d-4af7-ac4e-5e26fa0d46ef +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: quilt +- object_name: bed +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the corner of the quilt with the gripper and flatten the quilt with the gripper. +sub_tasks: +- subtask: grasp the folded corner of the quilt. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: abnormal. + subtask_index: 2 +- subtask: Flatten the corners of the folded blanket. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +- pull +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 240837 + fps: 30 + total_tasks: 6 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 5.95 GB +frame_num: 240837 +frame_range: 1M +dataset_size: 5.95 GB +data_structure: 'R1_Lite_make_the_bed_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_large_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_large_test_tube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..409855bfc73ea44c0101209955dda12c89be506d --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_large_test_tube.yaml @@ -0,0 +1,497 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_mix_blue_yellow_large_test_tube +dataset_uuid: c28ee84f-823a-4f23-94f9-9e4ef5cd7c91 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: blue_pigment +- object_name: yellow_pigment +- object_name: red_pigment +- object_name: test_tube_rack +- object_name: test_tubes +- object_name: beaker +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the test tube with yellow pigment and the test tube with blue pigment with + the grippers and pour them into the beaker. +sub_tasks: +- subtask: Grasp the yellow reagent with the right gripper. + subtask_index: 0 +- subtask: Pour the yellow reagent into the graduated cylinder and place the test + tube into the paper cup. + subtask_index: 1 +- subtask: Pour the yellow reagent into the graduated cylinder with the right gripper. + subtask_index: 2 +- subtask: Pour the blue reagent into the graduated cylinder and place the test tube + into the paper cup. + subtask_index: 3 +- subtask: Pour the blue reagent into the graduated cylinder with the left gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Place the test tube into the paper cup with the right gripper. + subtask_index: 6 +- subtask: Place the test tube into the paper cup with the left gripper. + subtask_index: 7 +- subtask: Grasp the blue reagent with the left gripper. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 51 + total_frames: 29341 + fps: 30 + total_tasks: 10 + total_videos: 204 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.59 GB +frame_num: 29341 +frame_range: 100K +dataset_size: 1.59 GB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_blue_yellow_large_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (39 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:50 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..022a6023a8f1481e4619579128c768c2dd32f8ae --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube +dataset_uuid: fd2702e2-d934-41e6-832f-13fb294a49f5 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: blue_pigment +- object_name: yellow_pigment +- object_name: red_pigment +- object_name: test_tube_rack +- object_name: test_tubes +- object_name: beaker +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the test tube with yellow pigment and the test tube with blue pigment with + the grippers and pour them into the beaker. +sub_tasks: +- subtask: Pour the blue reagent into the graduated cylinder with the left gripper. + subtask_index: 0 +- subtask: Pour the yellow reagent into the graduated cylinder with the left gripper. + subtask_index: 1 +- subtask: Grasp the yellow reagent with the left gripper. + subtask_index: 2 +- subtask: Grasp the blue reagent with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Place the test tube into the bowl with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 45568 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.54 GB +frame_num: 45568 +frame_range: 100K +dataset_size: 1.54 GB +data_structure: 'Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..369a1ffc3e4aa85eb484fcffee8dad2c499136a2 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube.yaml @@ -0,0 +1,491 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube +dataset_uuid: cda45487-f755-4ec5-8df0-cad946f06250 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: blue_pigment +- object_name: yellow_pigment +- object_name: red_pigment +- object_name: test_tube_rack +- object_name: test_tubes +- object_name: beaker +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the test tube with yellow pigment and the test tube with blue pigment with + the grippers and pour them into the beaker. +sub_tasks: +- subtask: Pour the blue reagent into the graduated cylinder with the left gripper. + subtask_index: 0 +- subtask: Pour the yellow reagent into the graduated cylinder with the left gripper. + subtask_index: 1 +- subtask: Grasp the yellow reagent with the left gripper. + subtask_index: 2 +- subtask: Grasp the blue reagent with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Place the test tube into the brown cup with the left gripper. + subtask_index: 5 +- subtask: Grasp the red reagent with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 33650 + fps: 30 + total_tasks: 8 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.50 GB +frame_num: 33650 +frame_range: 100K +dataset_size: 1.50 GB +data_structure: 'Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_right.yaml b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..68ef222ad24b2349302d0a681e0c45febd4e0c11 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_right.yaml @@ -0,0 +1,509 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_mix_blue_yellow_right +dataset_uuid: fedc0031-b21c-4477-8508-a2d496405ade +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: blue_pigment +- object_name: red_pigment +- object_name: yellow_pigment +- object_name: test_tube_rack +- object_name: test_tubes +- object_name: beaker +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the test tube with yellow pigment and the test tube with blue pigment with + the grippers and pour them into the beaker. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Place the test tube into the bowl with right gripper. + subtask_index: 1 +- subtask: Grasp the red reagent with the left gripper. + subtask_index: 2 +- subtask: Pour the blue reagent into the graduated cylinder with right gripper. + subtask_index: 3 +- subtask: Pick up the test tube containing the yellow reagent with right gripper. + subtask_index: 4 +- subtask: Grasp the yellow reagent with the right gripper. + subtask_index: 5 +- subtask: Grasp the red reagent with the right gripper. + subtask_index: 6 +- subtask: Place the test tube into the bowl with the right gripper. + subtask_index: 7 +- subtask: Pour the yellow reagent into the graduated cylinder with the right gripper. + subtask_index: 8 +- subtask: End. + subtask_index: 9 +- subtask: Pour the blue reagent into the graduated cylinder with the right gripper. + subtask_index: 10 +- subtask: Pour the yellow reagent into the graduated cylinder with right gripper. + subtask_index: 11 +- subtask: Pick up the test tube containing the blue reagent with right gripper. + subtask_index: 12 +- subtask: Pour the red reagent into the graduated cylinder with the right gripper. + subtask_index: 13 +- subtask: end. + subtask_index: 14 +- subtask: Grasp the blue reagent with the right gripper. + subtask_index: 15 +- subtask: null. + subtask_index: 16 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 32657 + fps: 30 + total_tasks: 17 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 665.69 MB +frame_num: 32657 +frame_range: 100K +dataset_size: 665.69 MB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_blue_yellow_right_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_mix_color.yaml b/dataset_info/Galaxea_R1_Lite_mix_color.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cccbb2e6a768d6aa03f91ee9c8a56cd7949b8dd4 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_mix_color.yaml @@ -0,0 +1,511 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_mix_color +dataset_uuid: 0a0caa73-886b-48ca-b7df-75debb3d3647 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: blue_pigment +- object_name: red_pigment +- object_name: white_pigment +- object_name: test_tube_rack +- object_name: large_test_tubes +- object_name: beaker +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the test tube with red pigment, the test tube with blue pigment, and the + test tube with white pigment with the grippers and pour them into the beaker. +sub_tasks: +- subtask: Pour the red reagent into the graduated cylinder and place the test tube + into the paper cup. + subtask_index: 0 +- subtask: Pour the orange reagent into the graduated cylinder and place the test + tube into the paper cup. + subtask_index: 1 +- subtask: Grasp the red reagent with the left gripper. + subtask_index: 2 +- subtask: Pour the white reagent into the graduated cylinder with the right gripper. + subtask_index: 3 +- subtask: Grasp the red reagent with the right gripper. + subtask_index: 4 +- subtask: Pour the blue reagent into the graduated cylinder and place the test tube + into the paper cup. + subtask_index: 5 +- subtask: Pour the blue reagent into the graduated cylinder with the left gripper. + subtask_index: 6 +- subtask: Pour the red reagent into the graduated cylinder with the left gripper. + subtask_index: 7 +- subtask: End. + subtask_index: 8 +- subtask: Place the test tube into the paper cup with the right gripper. + subtask_index: 9 +- subtask: Place the test tube into the paper cup with the left gripper. + subtask_index: 10 +- subtask: Grasp the blue reagent with the left gripper. + subtask_index: 11 +- subtask: Pour the red reagent into the graduated cylinder with the right gripper. + subtask_index: 12 +- subtask: Grasp the white reagent with the right gripper. + subtask_index: 13 +- subtask: Pour the white reagent into the graduated cylinder and place the test tube + into the paper cup. + subtask_index: 14 +- subtask: null. + subtask_index: 15 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 79584 + fps: 30 + total_tasks: 16 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 2.99 GB +frame_num: 79584 +frame_range: 100K +dataset_size: 2.99 GB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_color_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_mix_color_large_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_color_large_test_tube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0262d2f44f1ecfbd972f62440561a387b16d0646 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_mix_color_large_test_tube.yaml @@ -0,0 +1,499 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_mix_color_large_test_tube +dataset_uuid: ee06a23b-58bc-4748-8d3e-84022431641f +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: red_pigment +- object_name: blue_pigment +- object_name: yellow_pigment +- object_name: test_tube_rack +- object_name: large_test_tubes +- object_name: beaker +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the test tube with pigment on the left test tube rack with the left gripper + and the test tube with pigment on the right test tube rack with the right gripper, + and pour them into the beaker with the grippers. +sub_tasks: +- subtask: Place the test tube into the paper cup with the left gripper. + subtask_index: 0 +- subtask: Pour the blue reagent into the graduated cylinder with the left gripper. + subtask_index: 1 +- subtask: Pour the red reagent into the graduated cylinder with the left gripper. + subtask_index: 2 +- subtask: Pour the red reagent into the graduated cylinder with the right gripper. + subtask_index: 3 +- subtask: Grasp the blue reagent with the left gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Place the test tube into the paper cup with the right gripper. + subtask_index: 6 +- subtask: Grasp the yellow reagent with the right gripper. + subtask_index: 7 +- subtask: Pour the yellow reagent into the graduated cylinder with the right gripper. + subtask_index: 8 +- subtask: Grasp the red reagent with the left gripper. + subtask_index: 9 +- subtask: Grasp the red reagent with the right gripper. + subtask_index: 10 +- subtask: null. + subtask_index: 11 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 121 + total_frames: 131656 + fps: 30 + total_tasks: 12 + total_videos: 484 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 4.70 GB +frame_num: 131656 +frame_range: 1M +dataset_size: 4.70 GB +data_structure: 'Galaxea_R1_Lite_mix_color_large_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (109 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:120 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_mix_color_small_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_color_small_test_tube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a7452d531c7b269ec99b541cf1481395510bee5 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_mix_color_small_test_tube.yaml @@ -0,0 +1,506 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_mix_color_small_test_tube +dataset_uuid: 102d4d43-5a7b-4967-ad8d-0f7649a602ee +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: blue_pigment +- object_name: red_pigment +- object_name: test_tube_rack +- object_name: small_test_tubes +- object_name: beaker +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the test tube with red pigment and the test tube with blue pigment with + the grippers and pour them into the container. +sub_tasks: +- subtask: Pour the blue reagent into the graduated cylinder with the left gripper. + subtask_index: 0 +- subtask: Pour the red reagent into the graduated cylinder with the left gripper. + subtask_index: 1 +- subtask: Pour the yellow reagent into the graduated cylinder with the left gripper. + subtask_index: 2 +- subtask: Pour the red reagent into the graduated cylinder with the right gripper. + subtask_index: 3 +- subtask: Grasp the yellow reagent with the left gripper. + subtask_index: 4 +- subtask: Grasp the blue reagent with the left gripper. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: Pour the blue reagent into the graduated cylinder with the right gripper. + subtask_index: 7 +- subtask: Place the test tube into the brown cup with the left gripper. + subtask_index: 8 +- subtask: Grasp the yellow reagent with the right gripper. + subtask_index: 9 +- subtask: Pour the yellow reagent into the graduated cylinder with the right gripper. + subtask_index: 10 +- subtask: Grasp the blue reagent with the right gripper. + subtask_index: 11 +- subtask: Place the test tube into the brown cup with the right gripper. + subtask_index: 12 +- subtask: Grasp the red reagent with the left gripper. + subtask_index: 13 +- subtask: Grasp the red reagent with the right gripper. + subtask_index: 14 +- subtask: null. + subtask_index: 15 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 203 + total_frames: 147521 + fps: 30 + total_tasks: 16 + total_videos: 812 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 6.71 GB +frame_num: 147521 +frame_range: 1M +dataset_size: 6.71 GB +data_structure: 'Galaxea_R1_Lite_mix_color_small_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (191 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:202 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_mix_red_blue_large_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_red_blue_large_test_tube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49f6ea5f0e8d17d370fc31918e567970209ff4d6 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_mix_red_blue_large_test_tube.yaml @@ -0,0 +1,497 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_mix_red_blue_large_test_tube +dataset_uuid: a1095c5d-3277-4992-bc18-78e9f1e65137 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: blue_pigment +- object_name: yellow_pigment +- object_name: red_pigment +- object_name: test_tube_rack +- object_name: test_tubes +- object_name: beaker +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the test tube with red pigment and the test tube with blue pigment with + the grippers and pour them into the beaker. +sub_tasks: +- subtask: Pour the red reagent into the graduated cylinder and place the test tube + into the paper cup. + subtask_index: 0 +- subtask: Grasp the red reagent with the right gripper. + subtask_index: 1 +- subtask: Pour the blue reagent into the graduated cylinder and place the test tube + into the paper cup. + subtask_index: 2 +- subtask: Pour the blue reagent into the graduated cylinder with the left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Place the test tube into the paper cup with the right gripper. + subtask_index: 5 +- subtask: Place the test tube into the paper cup with the left gripper. + subtask_index: 6 +- subtask: Grasp the blue reagent with the left gripper. + subtask_index: 7 +- subtask: Pour the red reagent into the graduated cylinder with the right gripper. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 28433 + fps: 30 + total_tasks: 10 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.57 GB +frame_num: 28433 +frame_range: 100K +dataset_size: 1.57 GB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_blue_large_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_mix_red_blue_left_large_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_red_blue_left_large_test_tube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..af2c194948fe58d97fb990b11f2e32adb76266ef --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_mix_red_blue_left_large_test_tube.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_mix_red_blue_left_large_test_tube +dataset_uuid: ceea63dd-82e1-4eb1-bbd8-4c37f3334de4 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: blue_pigment +- object_name: yellow_pigment +- object_name: red_pigment +- object_name: test_tube_rack +- object_name: test_tubes +- object_name: beaker +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the test tube with red pigment and the test tube with blue pigment with + the grippers and pour them into the container. +sub_tasks: +- subtask: Pour the blue reagent into the graduated cylinder with the left gripper. + subtask_index: 0 +- subtask: Pour the red reagent into the graduated cylinder with the left gripper. + subtask_index: 1 +- subtask: Grasp the blue reagent with the left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the test tube into the bowl with the left gripper. + subtask_index: 4 +- subtask: Grasp the red reagent with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 46733 + fps: 30 + total_tasks: 7 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.57 GB +frame_num: 46733 +frame_range: 100K +dataset_size: 1.57 GB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_blue_left_large_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_mix_red_blue_right.yaml b/dataset_info/Galaxea_R1_Lite_mix_red_blue_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f2998166ea8345dd04e1e422a5e0685124a3d6e6 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_mix_red_blue_right.yaml @@ -0,0 +1,505 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_mix_red_blue_right +dataset_uuid: d25c828c-fc5e-4310-94fa-37bc404d6034 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: red_pigment +- object_name: blue_pigment +- object_name: yellow_pigment +- object_name: test_tube_rack +- object_name: test_tubes +- object_name: beaker +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the test tube with red pigment and the test tube with blue pigment with + the grippers and pour them into the container. +sub_tasks: +- subtask: Pour the red reagent into the graduated cylinder with right gripper. + subtask_index: 0 +- subtask: Pour the red reagent into the graduated cylinder with the right gripper. + subtask_index: 1 +- subtask: Pick up the test tube containing the red reagent with right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the test tube into the bowl with right gripper. + subtask_index: 4 +- subtask: Pour the blue reagent into the graduated cylinder with the right gripper. + subtask_index: 5 +- subtask: Pick up the test tube containing the blue reagent with right gripper. + subtask_index: 6 +- subtask: Pour the blue reagent into the graduated cylinder with right gripper. + subtask_index: 7 +- subtask: Grasp the blue reagent with the right gripper. + subtask_index: 8 +- subtask: Grasp the yellow reagent with the right gripper. + subtask_index: 9 +- subtask: Pour the yellow reagent into the graduated cylinder with the right gripper. + subtask_index: 10 +- subtask: end. + subtask_index: 11 +- subtask: Place the test tube into the bowl with the right gripper. + subtask_index: 12 +- subtask: Grasp the red reagent with the right gripper. + subtask_index: 13 +- subtask: null. + subtask_index: 14 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 32072 + fps: 30 + total_tasks: 15 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 647.52 MB +frame_num: 32072 +frame_range: 100K +dataset_size: 647.52 MB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_blue_right_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_mix_red_yellow_large_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_red_yellow_large_test_tube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..82ec082c677884558874dd91e8ca87a412cdcac2 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_mix_red_yellow_large_test_tube.yaml @@ -0,0 +1,497 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_mix_red_yellow_large_test_tube +dataset_uuid: 9909451a-a8dd-475d-b057-2028e5a82da1 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: blue_pigment +- object_name: yellow_pigment +- object_name: red_pigment +- object_name: test_tube_rack +- object_name: large_test_tubes +- object_name: beaker +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the test tube with yellow pigment and the test tube with red pigment with + the grippers and pour them into the beaker. +sub_tasks: +- subtask: Pour the red reagent into the graduated cylinder and place the test tube + into the paper cup. + subtask_index: 0 +- subtask: Grasp the red reagent with the left gripper. + subtask_index: 1 +- subtask: Grasp the yellow reagent with the right gripper. + subtask_index: 2 +- subtask: Pour the yellow reagent into the graduated cylinder and place the test + tube into the paper cup. + subtask_index: 3 +- subtask: Pour the yellow reagent into the graduated cylinder with the right gripper. + subtask_index: 4 +- subtask: Pour the red reagent into the graduated cylinder with the left gripper. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: Place the test tube into the paper cup with the right gripper. + subtask_index: 7 +- subtask: Place the test tube into the paper cup with the left gripper. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 28289 + fps: 30 + total_tasks: 10 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.58 GB +frame_num: 28289 +frame_range: 100K +dataset_size: 1.58 GB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_yellow_large_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6c278d70e37499b0cb2d624dc1f1a8cb4e12ccbe --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube +dataset_uuid: 59103203-9511-44a5-be58-224fcd3638cb +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: blue_pigment +- object_name: yellow_pigment +- object_name: red_pigment +- object_name: test_tube_rack +- object_name: large_test_tubes +- object_name: beaker +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the test tube with yellow pigment and the test tube with red pigment with + the grippers and pour them into the beaker. +sub_tasks: +- subtask: Grasp the red reagent with the left gripper. + subtask_index: 0 +- subtask: Pour the red reagent into the graduated cylinder with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the test tube into the pink bowl with the left gripper. + subtask_index: 3 +- subtask: Grasp the yellow reagent with the left gripper. + subtask_index: 4 +- subtask: Pour the yellow reagent into the graduated cylinder with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 89688 + fps: 30 + total_tasks: 7 + total_videos: 400 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 2.93 GB +frame_num: 89688 +frame_range: 100K +dataset_size: 2.93 GB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_mix_red_yellow_right.yaml b/dataset_info/Galaxea_R1_Lite_mix_red_yellow_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eae5c4f822a5b21251fe23d48fd87dc6aeacb2eb --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_mix_red_yellow_right.yaml @@ -0,0 +1,503 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_mix_red_yellow_right +dataset_uuid: 610e1648-7fa5-4c97-848d-a656549f08d3 +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: blue_pigment +- object_name: yellow_pigment +- object_name: red_pigment +- object_name: test_tube_rack +- object_name: test_tubes +- object_name: beaker +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the test tube with yellow pigment and the test tube with red pigment with + the grippers and pour them into the beaker. +sub_tasks: +- subtask: Place the test tube into the bowl with right gripper. + subtask_index: 0 +- subtask: Pick up the test tube containing the yellow reagent with right gripper. + subtask_index: 1 +- subtask: Place the test tube into the pink bowl with the right gripper. + subtask_index: 2 +- subtask: Grasp the yellow reagent with the right gripper. + subtask_index: 3 +- subtask: Grasp the red reagent with the right gripper. + subtask_index: 4 +- subtask: Pick up the test tube containing the red reagent with right gripper. + subtask_index: 5 +- subtask: Place the test tube into the bowl with the right gripper. + subtask_index: 6 +- subtask: Pour the yellow reagent into the graduated cylinder with the right gripper. + subtask_index: 7 +- subtask: Pour the red reagent into the graduated cylinder with right gripper. + subtask_index: 8 +- subtask: End. + subtask_index: 9 +- subtask: Pour the yellow reagent into the graduated cylinder with right gripper. + subtask_index: 10 +- subtask: Pour the red reagent into the graduated cylinder with the right gripper. + subtask_index: 11 +- subtask: end. + subtask_index: 12 +- subtask: null. + subtask_index: 13 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 61864 + fps: 30 + total_tasks: 14 + total_videos: 396 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.22 GB +frame_num: 61864 +frame_range: 100K +dataset_size: 1.22 GB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_yellow_right_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_move_mouse.yaml b/dataset_info/Galaxea_R1_Lite_move_mouse.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4fd1ff76712dcf1a7b683ba4c5402c7b82b4519a --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_move_mouse.yaml @@ -0,0 +1,478 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_move_mouse +dataset_uuid: 2148803e-974b-48de-bee8-1eb7d073e07a +scene_type: + level1: office + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: mouse +- object_name: mouse_pad +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the mouse on the left side of the table with the left gripper onto the mouse + pad on the right side with the right gripper. +sub_tasks: +- subtask: Grasp the mouse with the left gripper. + subtask_index: 0 +- subtask: Place the mouse on the mouse pad with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 30 + total_frames: 8927 + fps: 30 + total_tasks: 4 + total_videos: 120 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 219.01 MB +frame_num: 8927 +frame_range: 10K +dataset_size: 219.01 MB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_move_mouse_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (18 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:29 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_apple.yaml b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_apple.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75f82a3aadf5e68d99b28c8233a33532ec594398 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_apple.yaml @@ -0,0 +1,526 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_move_the_position_of_the_apple +dataset_uuid: 9155fbd7-8bc2-44d0-a2dc-16b1fad44af0 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pen +- object_name: banana +- object_name: apple +- object_name: bath_ball +- object_name: bowl +- object_name: plate +- object_name: can +- object_name: eraser +- object_name: hard_cleanser +- object_name: long_bread +- object_name: peeler +- object_name: block +- object_name: duck +- object_name: soap +- object_name: box +- object_name: basket +- object_name: cola +- object_name: detergent +- object_name: egg_beater +- object_name: towel +- object_name: orange +- object_name: peach +- object_name: marker +- object_name: rubiks_cube +- object_name: bread_slice +- object_name: brush +- object_name: yogurt +- object_name: power_strip +- object_name: milk +- object_name: soda +- object_name: lime +- object_name: coffee_capsule +- object_name: dish +- object_name: glass +- object_name: egg_yolk_pastry +- object_name: glasses_case +- object_name: gum +- object_name: tape +- object_name: soft_cleanser +- object_name: chips +- object_name: chocolate +- object_name: cookie +- object_name: spoon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the apple in the designated position with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the apple on the table with left gripper. + subtask_index: 1 +- subtask: Grasp the apple with left gripper. + subtask_index: 2 +- subtask: Place the apple on the table with right gripper. + subtask_index: 3 +- subtask: Grasp the apple with right gripper. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- place +- pick +- grasp +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 35 + total_frames: 5959 + fps: 30 + total_tasks: 8 + total_videos: 140 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 223.01 MB +frame_num: 5959 +frame_range: 10K +dataset_size: 223.01 MB +data_structure: 'R1_Lite_move_the_position_of_the_apple_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (23 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:34 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_black_marker.yaml b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_black_marker.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6df54df839acca70a40f2525a0c434e6f22ce90f --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_black_marker.yaml @@ -0,0 +1,523 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_move_the_position_of_the_black_marker +dataset_uuid: 5d591692-f2ae-4fa8-97d1-9cd1613b1b33 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pen +- object_name: banana +- object_name: bath_ball +- object_name: bowl +- object_name: plate +- object_name: can +- object_name: eraser +- object_name: hard_cleanser +- object_name: long_bread +- object_name: peeler +- object_name: block +- object_name: duck +- object_name: soap +- object_name: box +- object_name: basket +- object_name: cola +- object_name: detergent +- object_name: egg_beater +- object_name: towel +- object_name: orange +- object_name: peach +- object_name: marker +- object_name: rubiks_cube +- object_name: bread_slice +- object_name: brush +- object_name: yogurt +- object_name: power_strip +- object_name: milk +- object_name: soda +- object_name: lime +- object_name: coffee_capsule +- object_name: dish +- object_name: glass +- object_name: egg_yolk_pastry +- object_name: glasses_case +- object_name: gum +- object_name: tape +- object_name: soft_cleanser +- object_name: chips +- object_name: chocolate +- object_name: cookie +- object_name: spoon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the black marker in the designated position with the gripper. +sub_tasks: +- subtask: Grasp the Marker pen with left gripper. + subtask_index: 0 +- subtask: Grasp the Marker pen with right gripper. + subtask_index: 1 +- subtask: Place the Marker pen on the table with right gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Place the Marker pen on the table with left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- place +- pick +- grasp +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 61 + total_frames: 15618 + fps: 30 + total_tasks: 7 + total_videos: 244 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 536.64 MB +frame_num: 15618 +frame_range: 100K +dataset_size: 536.64 MB +data_structure: 'R1_Lite_move_the_position_of_the_black_marker_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (49 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:60 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_brush.yaml b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_brush.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a0d835ec36729e963021549bbc6e0acd64ed748e --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_brush.yaml @@ -0,0 +1,525 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_move_the_position_of_the_brush +dataset_uuid: 0626d7f7-69b7-4fb0-9edc-8ba92d1df7cf +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pen +- object_name: banana +- object_name: bath_ball +- object_name: bowl +- object_name: plate +- object_name: can +- object_name: eraser +- object_name: hard_cleanser +- object_name: long_bread +- object_name: peeler +- object_name: block +- object_name: duck +- object_name: soap +- object_name: box +- object_name: basket +- object_name: cola +- object_name: detergent +- object_name: egg_beater +- object_name: towel +- object_name: orange +- object_name: peach +- object_name: marker +- object_name: rubiks_cube +- object_name: bread_slice +- object_name: brush +- object_name: yogurt +- object_name: power_strip +- object_name: milk +- object_name: soda +- object_name: lime +- object_name: coffee_capsule +- object_name: dish +- object_name: glass +- object_name: egg_yolk_pastry +- object_name: glasses_case +- object_name: gum +- object_name: tape +- object_name: soft_cleanser +- object_name: chips +- object_name: chocolate +- object_name: cookie +- object_name: spoon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the brush in the designated position with the gripper. +sub_tasks: +- subtask: Static. + subtask_index: 0 +- subtask: Place the brush on the table with right gripper. + subtask_index: 1 +- subtask: Grasp the brush with right gripper. + subtask_index: 2 +- subtask: Grasp the brush with left gripper. + subtask_index: 3 +- subtask: Place the brush on the table with left gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- place +- pick +- grasp +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 63 + total_frames: 17774 + fps: 30 + total_tasks: 8 + total_videos: 252 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 676.98 MB +frame_num: 17774 +frame_range: 100K +dataset_size: 676.98 MB +data_structure: 'R1_Lite_move_the_position_of_the_brush_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (51 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:62 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_coffee_capsule.yaml b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_coffee_capsule.yaml new file mode 100644 index 0000000000000000000000000000000000000000..36a5794e03dae95c2a8f652ec5ebea5a2fa6a189 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_coffee_capsule.yaml @@ -0,0 +1,523 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_move_the_position_of_the_coffee_capsule +dataset_uuid: b0f7658f-e170-4911-afdf-9af621bfa0fe +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pen +- object_name: banana +- object_name: bath_ball +- object_name: bowl +- object_name: plate +- object_name: can +- object_name: eraser +- object_name: hard_cleanser +- object_name: long_bread +- object_name: peeler +- object_name: block +- object_name: duck +- object_name: soap +- object_name: box +- object_name: basket +- object_name: cola +- object_name: detergent +- object_name: egg_beater +- object_name: towel +- object_name: orange +- object_name: peach +- object_name: marker +- object_name: rubiks_cube +- object_name: bread_slice +- object_name: brush +- object_name: yogurt +- object_name: power_strip +- object_name: milk +- object_name: soda +- object_name: lime +- object_name: coffee_capsule +- object_name: dish +- object_name: glass +- object_name: egg_yolk_pastry +- object_name: glasses_case +- object_name: gum +- object_name: tape +- object_name: soft_cleanser +- object_name: chips +- object_name: chocolate +- object_name: cookie +- object_name: spoon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the coffee capsule in the designated position with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the coffee capsule with left gripper. + subtask_index: 1 +- subtask: Place the coffee capsule on the table with right gripper. + subtask_index: 2 +- subtask: Grasp the coffee capsule with right gripper. + subtask_index: 3 +- subtask: Static. + subtask_index: 4 +- subtask: Place the coffee capsule on the table with left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- place +- pick +- grasp +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 58 + total_frames: 14334 + fps: 30 + total_tasks: 7 + total_videos: 232 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 500.15 MB +frame_num: 14334 +frame_range: 100K +dataset_size: 500.15 MB +data_structure: 'R1_Lite_move_the_position_of_the_coffee_capsule_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (46 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:57 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_cookie.yaml b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_cookie.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6fdd1293eded3bd6e4aee58cdf7f0ac2ae5743cd --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_cookie.yaml @@ -0,0 +1,525 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_move_the_position_of_the_cookie +dataset_uuid: 7015670f-e702-4c08-a662-e74aee0c0872 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pen +- object_name: banana +- object_name: bath_ball +- object_name: bowl +- object_name: plate +- object_name: can +- object_name: eraser +- object_name: hard_cleanser +- object_name: long_bread +- object_name: peeler +- object_name: block +- object_name: duck +- object_name: soap +- object_name: box +- object_name: basket +- object_name: cola +- object_name: detergent +- object_name: egg_beater +- object_name: towel +- object_name: orange +- object_name: peach +- object_name: marker +- object_name: rubiks_cube +- object_name: bread_slice +- object_name: brush +- object_name: yogurt +- object_name: power_strip +- object_name: milk +- object_name: soda +- object_name: lime +- object_name: coffee_capsule +- object_name: dish +- object_name: glass +- object_name: egg_yolk_pastry +- object_name: glasses_case +- object_name: gum +- object_name: tape +- object_name: soft_cleanser +- object_name: chips +- object_name: chocolate +- object_name: cookie +- object_name: spoon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the cookie in the designated position with the gripper. +sub_tasks: +- subtask: Place the cookie on the table with right gripper. + subtask_index: 0 +- subtask: Static. + subtask_index: 1 +- subtask: Place the cookie on the table with left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Grasp the cookie with right gripper. + subtask_index: 4 +- subtask: Grasp the cookie with left gripper. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- place +- pick +- grasp +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 25 + total_frames: 5045 + fps: 30 + total_tasks: 8 + total_videos: 100 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 198.31 MB +frame_num: 5045 +frame_range: 10K +dataset_size: 198.31 MB +data_structure: 'R1_Lite_move_the_position_of_the_cookie_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (13 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:24 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_duck.yaml b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_duck.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a126017be5456b3000771a399431331fc5f63784 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_duck.yaml @@ -0,0 +1,525 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_move_the_position_of_the_duck +dataset_uuid: da6ac6c0-2744-4f18-98b8-d87cbfcc8ce1 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pen +- object_name: banana +- object_name: bath_ball +- object_name: bowl +- object_name: plate +- object_name: can +- object_name: eraser +- object_name: hard_cleanser +- object_name: long_bread +- object_name: peeler +- object_name: block +- object_name: duck +- object_name: soap +- object_name: box +- object_name: basket +- object_name: cola +- object_name: detergent +- object_name: egg_beater +- object_name: towel +- object_name: orange +- object_name: peach +- object_name: marker +- object_name: rubiks_cube +- object_name: bread_slice +- object_name: brush +- object_name: yogurt +- object_name: power_strip +- object_name: milk +- object_name: soda +- object_name: lime +- object_name: coffee_capsule +- object_name: dish +- object_name: glass +- object_name: egg_yolk_pastry +- object_name: glasses_case +- object_name: gum +- object_name: tape +- object_name: soft_cleanser +- object_name: chips +- object_name: chocolate +- object_name: cookie +- object_name: spoon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the duck in the designated position with the gripper. +sub_tasks: +- subtask: Grasp the red duck with right gripper. + subtask_index: 0 +- subtask: Static. + subtask_index: 1 +- subtask: Place the red duck on the table with right gripper. + subtask_index: 2 +- subtask: Grasp the red duck with left gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Place the red duck on the table with left gripper. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- place +- pick +- grasp +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 40 + total_frames: 12223 + fps: 30 + total_tasks: 8 + total_videos: 160 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 348.20 MB +frame_num: 12223 +frame_range: 100K +dataset_size: 348.20 MB +data_structure: 'R1_Lite_move_the_position_of_the_duck_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (28 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:39 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_glass.yaml b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_glass.yaml new file mode 100644 index 0000000000000000000000000000000000000000..be1fbb27973e3e837cd89710a605f7adf686e8c4 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_glass.yaml @@ -0,0 +1,525 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_move_the_position_of_the_glass +dataset_uuid: 8ac8771b-807d-43fe-ad24-200934007490 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pen +- object_name: banana +- object_name: bath_ball +- object_name: bowl +- object_name: plate +- object_name: can +- object_name: eraser +- object_name: hard_cleanser +- object_name: long_bread +- object_name: peeler +- object_name: block +- object_name: duck +- object_name: soap +- object_name: box +- object_name: basket +- object_name: cola +- object_name: detergent +- object_name: egg_beater +- object_name: towel +- object_name: orange +- object_name: peach +- object_name: marker +- object_name: rubiks_cube +- object_name: bread_slice +- object_name: brush +- object_name: yogurt +- object_name: power_strip +- object_name: milk +- object_name: soda +- object_name: lime +- object_name: coffee_capsule +- object_name: dish +- object_name: glasses_case +- object_name: egg_yolk_pastry +- object_name: glasses_case +- object_name: gum +- object_name: tape +- object_name: soft_cleanser +- object_name: chips +- object_name: chocolate +- object_name: cookie +- object_name: spoon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the glasses case into the designated position with the gripper. +sub_tasks: +- subtask: Grasp the glasses case with left gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Grasp the glasses case with right gripper. + subtask_index: 2 +- subtask: Place the glasses case on the table with right gripper. + subtask_index: 3 +- subtask: Static. + subtask_index: 4 +- subtask: Place the glasses case on the table with left gripper. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- place +- pick +- grasp +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 36 + total_frames: 12480 + fps: 30 + total_tasks: 8 + total_videos: 144 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 423.89 MB +frame_num: 12480 +frame_range: 100K +dataset_size: 423.89 MB +data_structure: 'R1_Lite_move_the_position_of_the_glass_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (24 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:35 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_long_bread.yaml b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_long_bread.yaml new file mode 100644 index 0000000000000000000000000000000000000000..553a77b16b83d50c23690a86e2a7fdd93b9c8784 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_long_bread.yaml @@ -0,0 +1,525 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_move_the_position_of_the_long_bread +dataset_uuid: bdee9310-93d0-4808-a0ad-4ca01b25ac9f +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pen +- object_name: banana +- object_name: bath_ball +- object_name: bowl +- object_name: plate +- object_name: can +- object_name: eraser +- object_name: hard_cleanser +- object_name: long_bread +- object_name: peeler +- object_name: block +- object_name: duck +- object_name: soap +- object_name: box +- object_name: basket +- object_name: cola +- object_name: detergent +- object_name: egg_beater +- object_name: towel +- object_name: orange +- object_name: peach +- object_name: marker +- object_name: rubiks_cube +- object_name: bread_slice +- object_name: brush +- object_name: yogurt +- object_name: power_strip +- object_name: milk +- object_name: soda +- object_name: lime +- object_name: coffee_capsule +- object_name: dish +- object_name: glass +- object_name: egg_yolk_pastry +- object_name: glasses_case +- object_name: gum +- object_name: tape +- object_name: soft_cleanser +- object_name: chips +- object_name: chocolate +- object_name: cookie +- object_name: spoon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the long bread in the designated position with the gripper. +sub_tasks: +- subtask: Grasp the long bread with right gripper. + subtask_index: 0 +- subtask: Grasp the long bread with left gripper. + subtask_index: 1 +- subtask: Place the long bread on the table with right gripper. + subtask_index: 2 +- subtask: Place the long bread on the table with left gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- place +- pick +- grasp +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 31 + total_frames: 9249 + fps: 30 + total_tasks: 8 + total_videos: 124 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 344.73 MB +frame_num: 9249 +frame_range: 10K +dataset_size: 344.73 MB +data_structure: 'R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (19 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:30 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_milk.yaml b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_milk.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d06bce48842524e6f7ea150cd12353a21b40161f --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_milk.yaml @@ -0,0 +1,525 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_move_the_position_of_the_milk +dataset_uuid: 945013f7-9a63-4c59-af10-4ad4df23d67f +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pen +- object_name: banana +- object_name: bath_ball +- object_name: bowl +- object_name: plate +- object_name: can +- object_name: eraser +- object_name: hard_cleanser +- object_name: long_bread +- object_name: peeler +- object_name: block +- object_name: duck +- object_name: soap +- object_name: box +- object_name: basket +- object_name: cola +- object_name: detergent +- object_name: egg_beater +- object_name: towel +- object_name: orange +- object_name: peach +- object_name: marker +- object_name: rubiks_cube +- object_name: bread_slice +- object_name: brush +- object_name: yogurt +- object_name: power_strip +- object_name: milk +- object_name: soda +- object_name: lime +- object_name: coffee_capsule +- object_name: dish +- object_name: glass +- object_name: egg_yolk_pastry +- object_name: glasses_case +- object_name: gum +- object_name: tape +- object_name: soft_cleanser +- object_name: chips +- object_name: chocolate +- object_name: cookie +- object_name: spoon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the milk in the designated position with the gripper. +sub_tasks: +- subtask: Grasp the wangzai milk with left gripper. + subtask_index: 0 +- subtask: Place the wangzai milk on the table with right gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: Place the wangzai milk on the table with left gripper. + subtask_index: 3 +- subtask: Grasp the wangzai milk with right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- place +- pick +- grasp +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 59 + total_frames: 12898 + fps: 30 + total_tasks: 8 + total_videos: 236 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 421.83 MB +frame_num: 12898 +frame_range: 100K +dataset_size: 421.83 MB +data_structure: 'R1_Lite_move_the_position_of_the_milk_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (47 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:58 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_orange.yaml b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_orange.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8b938b050b244a0f79c91563f3ef9d790ef562d8 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_orange.yaml @@ -0,0 +1,523 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_move_the_position_of_the_orange +dataset_uuid: 5cff8c7f-bc80-41be-87f4-5cc1b132ed1c +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pen +- object_name: banana +- object_name: bath_ball +- object_name: bowl +- object_name: plate +- object_name: can +- object_name: eraser +- object_name: hard_cleanser +- object_name: long_bread +- object_name: peeler +- object_name: block +- object_name: duck +- object_name: soap +- object_name: box +- object_name: basket +- object_name: cola +- object_name: detergent +- object_name: egg_beater +- object_name: towel +- object_name: orange +- object_name: peach +- object_name: marker +- object_name: rubiks_cube +- object_name: bread_slice +- object_name: brush +- object_name: yogurt +- object_name: power_strip +- object_name: milk +- object_name: soda +- object_name: lime +- object_name: coffee_capsule +- object_name: dish +- object_name: glass +- object_name: egg_yolk_pastry +- object_name: glasses_case +- object_name: gum +- object_name: tape +- object_name: soft_cleanser +- object_name: chips +- object_name: chocolate +- object_name: cookie +- object_name: spoon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the orange in the designated position with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the orange on the table with right gripper. + subtask_index: 1 +- subtask: Grasp the orange with right gripper. + subtask_index: 2 +- subtask: Place the orange on the table with left gripper. + subtask_index: 3 +- subtask: Grasp the orange with left gripper. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- place +- pick +- grasp +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 42 + total_frames: 15074 + fps: 30 + total_tasks: 7 + total_videos: 168 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 550.22 MB +frame_num: 15074 +frame_range: 100K +dataset_size: 550.22 MB +data_structure: 'R1_Lite_move_the_position_of_the_orange_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (30 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:41 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_peeler.yaml b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_peeler.yaml new file mode 100644 index 0000000000000000000000000000000000000000..05b2328bc46e9551b3c8b02b30ac89197216bbd1 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_peeler.yaml @@ -0,0 +1,523 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_move_the_position_of_the_peeler +dataset_uuid: 32cc9e19-b5a0-4f09-a124-2f042003a5ed +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pen +- object_name: banana +- object_name: bath_ball +- object_name: bowl +- object_name: plate +- object_name: can +- object_name: eraser +- object_name: hard_cleanser +- object_name: long_bread +- object_name: peeler +- object_name: block +- object_name: duck +- object_name: soap +- object_name: box +- object_name: basket +- object_name: cola +- object_name: detergent +- object_name: egg_beater +- object_name: towel +- object_name: orange +- object_name: peach +- object_name: marker +- object_name: rubiks_cube +- object_name: bread_slice +- object_name: brush +- object_name: yogurt +- object_name: power_strip +- object_name: milk +- object_name: soda +- object_name: lime +- object_name: coffee_capsule +- object_name: dish +- object_name: glass +- object_name: egg_yolk_pastry +- object_name: glasses_case +- object_name: gum +- object_name: tape +- object_name: soft_cleanser +- object_name: chips +- object_name: chocolate +- object_name: cookie +- object_name: spoon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the peeler in the designated position with the gripper. +sub_tasks: +- subtask: Grasp the peeler with right gripper. + subtask_index: 0 +- subtask: Static. + subtask_index: 1 +- subtask: Grasp the peeler with left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the peeler on the table with right gripper. + subtask_index: 4 +- subtask: Place the peeler on the table with left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- place +- pick +- grasp +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 43 + total_frames: 10477 + fps: 30 + total_tasks: 7 + total_videos: 172 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 369.56 MB +frame_num: 10477 +frame_range: 100K +dataset_size: 369.56 MB +data_structure: 'R1_Lite_move_the_position_of_the_peeler_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (31 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:42 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_pen.yaml b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_pen.yaml new file mode 100644 index 0000000000000000000000000000000000000000..69ebe4af9889b609d3f96d4ca5eb81ed9e02ab22 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_pen.yaml @@ -0,0 +1,525 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_move_the_position_of_the_pen +dataset_uuid: e974fb54-b565-4fa5-989e-a0c551c6d140 +scene_type: + level1: office + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pen +- object_name: banana +- object_name: bath_ball +- object_name: bowl +- object_name: plate +- object_name: can +- object_name: eraser +- object_name: hard_cleanser +- object_name: long_bread +- object_name: peeler +- object_name: block +- object_name: duck +- object_name: soap +- object_name: box +- object_name: basket +- object_name: cola +- object_name: detergent +- object_name: egg_beater +- object_name: towel +- object_name: orange +- object_name: peach +- object_name: marker +- object_name: rubiks_cube +- object_name: bread_slice +- object_name: brush +- object_name: yogurt +- object_name: power_strip +- object_name: milk +- object_name: soda +- object_name: lime +- object_name: coffee_capsule +- object_name: dish +- object_name: glass +- object_name: egg_yolk_pastry +- object_name: glasses_case +- object_name: gum +- object_name: tape +- object_name: soft_cleanser +- object_name: chips +- object_name: chocolate +- object_name: cookie +- object_name: spoon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the pen in the designated position with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the sign pen on the table with right gripper. + subtask_index: 1 +- subtask: Grasp the sign pen with left gripper. + subtask_index: 2 +- subtask: Place the sign pen on the table with left gripper. + subtask_index: 3 +- subtask: Grasp the sign pen with right gripper. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- place +- pick +- grasp +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 31 + total_frames: 11495 + fps: 30 + total_tasks: 8 + total_videos: 124 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 362.34 MB +frame_num: 11495 +frame_range: 100K +dataset_size: 362.34 MB +data_structure: 'R1_Lite_move_the_position_of_the_pen_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (19 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:30 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_rubiks_cube.yaml b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_rubiks_cube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8fa9cdb61715de0ac5022d581147b967afb277e --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_rubiks_cube.yaml @@ -0,0 +1,523 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_move_the_position_of_the_rubiks_cube +dataset_uuid: fe0a75c5-bab5-4e43-9502-081da6770b61 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pen +- object_name: banana +- object_name: bath_ball +- object_name: bowl +- object_name: plate +- object_name: can +- object_name: eraser +- object_name: hard_cleanser +- object_name: long_bread +- object_name: peeler +- object_name: block +- object_name: duck +- object_name: soap +- object_name: box +- object_name: basket +- object_name: cola +- object_name: detergent +- object_name: egg_beater +- object_name: towel +- object_name: orange +- object_name: peach +- object_name: marker +- object_name: rubiks_cube +- object_name: bread_slice +- object_name: brush +- object_name: yogurt +- object_name: power_strip +- object_name: milk +- object_name: soda +- object_name: lime +- object_name: coffee_capsule +- object_name: dish +- object_name: glass +- object_name: egg_yolk_pastry +- object_name: glasses_case +- object_name: gum +- object_name: tape +- object_name: soft_cleanser +- object_name: chips +- object_name: chocolate +- object_name: cookie +- object_name: spoon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the Rubik's cube into the designated position with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the magic cube on the table with right gripper. + subtask_index: 1 +- subtask: Place the magic cube on the table with left gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Grasp the magic cube with left gripper. + subtask_index: 4 +- subtask: Grasp the magic cube with right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- place +- pick +- grasp +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 44 + total_frames: 9055 + fps: 30 + total_tasks: 7 + total_videos: 176 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 328.41 MB +frame_num: 9055 +frame_range: 10K +dataset_size: 328.41 MB +data_structure: 'R1_Lite_move_the_position_of_the_rubiks_cube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (32 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:43 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_soda.yaml b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_soda.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e8a91a500c0aadbeec630db3f57d1f4a75db8204 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_soda.yaml @@ -0,0 +1,523 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_move_the_position_of_the_soda +dataset_uuid: 776f8ed0-31b4-46e5-adbd-d905da18638c +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pen +- object_name: banana +- object_name: bath_ball +- object_name: bowl +- object_name: plate +- object_name: can +- object_name: eraser +- object_name: hard_cleanser +- object_name: long_bread +- object_name: peeler +- object_name: block +- object_name: duck +- object_name: soap +- object_name: box +- object_name: basket +- object_name: cola +- object_name: detergent +- object_name: egg_beater +- object_name: towel +- object_name: orange +- object_name: peach +- object_name: marker +- object_name: rubiks_cube +- object_name: bread_slice +- object_name: brush +- object_name: yogurt +- object_name: power_strip +- object_name: milk +- object_name: soda +- object_name: lime +- object_name: coffee_capsule +- object_name: dish +- object_name: glass +- object_name: egg_yolk_pastry +- object_name: glasses_case +- object_name: gum +- object_name: tape +- object_name: soft_cleanser +- object_name: chips +- object_name: chocolate +- object_name: cookie +- object_name: spoon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the soda in the designated position with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the soda water with right gripper. + subtask_index: 1 +- subtask: Place the soda water on the table with right gripper. + subtask_index: 2 +- subtask: Place the soda water on the table with left gripper. + subtask_index: 3 +- subtask: Static. + subtask_index: 4 +- subtask: Grasp the soda water with left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- place +- pick +- grasp +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 62 + total_frames: 17198 + fps: 30 + total_tasks: 7 + total_videos: 248 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 661.03 MB +frame_num: 17198 +frame_range: 100K +dataset_size: 661.03 MB +data_structure: 'R1_Lite_move_the_position_of_the_soda_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (50 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:61 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_spoon.yaml b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_spoon.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c2459e7d00f48c757af8a38e1a31d778c99c796b --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_spoon.yaml @@ -0,0 +1,523 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_move_the_position_of_the_spoon +dataset_uuid: ab8d31a7-973b-4328-b3dc-f79488af764f +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pen +- object_name: banana +- object_name: bath_ball +- object_name: bowl +- object_name: plate +- object_name: can +- object_name: eraser +- object_name: hard_cleanser +- object_name: long_bread +- object_name: peeler +- object_name: block +- object_name: duck +- object_name: soap +- object_name: box +- object_name: basket +- object_name: cola +- object_name: detergent +- object_name: egg_beater +- object_name: towel +- object_name: orange +- object_name: peach +- object_name: marker +- object_name: rubiks_cube +- object_name: bread_slice +- object_name: brush +- object_name: yogurt +- object_name: power_strip +- object_name: milk +- object_name: soda +- object_name: lime +- object_name: coffee_capsule +- object_name: dish +- object_name: glass +- object_name: egg_yolk_pastry +- object_name: glasses_case +- object_name: gum +- object_name: tape +- object_name: soft_cleanser +- object_name: chips +- object_name: chocolate +- object_name: cookie +- object_name: spoon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the spoon in the designated position with the gripper. +sub_tasks: +- subtask: Grasp the spoon with right gripper. + subtask_index: 0 +- subtask: Grasp the spoon with left gripper. + subtask_index: 1 +- subtask: Place the spoon on the table with left gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Place the spoon on the table with right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- place +- pick +- grasp +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 23 + total_frames: 6550 + fps: 30 + total_tasks: 7 + total_videos: 92 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 212.32 MB +frame_num: 6550 +frame_range: 10K +dataset_size: 212.32 MB +data_structure: 'R1_Lite_move_the_position_of_the_spoon_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (11 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:22 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_triangle_bread.yaml b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_triangle_bread.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3dd9685f8d90793f36d2adefc84e9c1053e9d8e --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_move_the_position_of_the_triangle_bread.yaml @@ -0,0 +1,525 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_move_the_position_of_the_triangle_bread +dataset_uuid: f60ef2d6-fc04-4276-b75e-e8b54ab7602c +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: waffle +- object_name: pen +- object_name: banana +- object_name: bath_ball +- object_name: bowl +- object_name: plate +- object_name: can +- object_name: eraser +- object_name: hard_cleanser +- object_name: long_bread +- object_name: peeler +- object_name: block +- object_name: duck +- object_name: soap +- object_name: box +- object_name: basket +- object_name: cola +- object_name: detergent +- object_name: egg_beater +- object_name: towel +- object_name: orange +- object_name: peach +- object_name: marker +- object_name: rubiks_cube +- object_name: bread_slice +- object_name: brush +- object_name: yogurt +- object_name: power_strip +- object_name: milk +- object_name: soda +- object_name: lime +- object_name: coffee_capsule +- object_name: dish +- object_name: glass +- object_name: egg_yolk_pastry +- object_name: glasses_case +- object_name: gum +- object_name: tape +- object_name: soft_cleanser +- object_name: chips +- object_name: chocolate +- object_name: cookie +- object_name: spoon +- object_name: triangle_bread +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the waffle in the designated position with the gripper. +sub_tasks: +- subtask: Grasp the pizza with right gripper. + subtask_index: 0 +- subtask: Static. + subtask_index: 1 +- subtask: Place the pizza on the table with right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Grasp the pizza with left gripper. + subtask_index: 4 +- subtask: Place the pizza on the table with left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- place +- pick +- grasp +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 40 + total_frames: 8540 + fps: 30 + total_tasks: 7 + total_videos: 160 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 300.10 MB +frame_num: 8540 +frame_range: 10K +dataset_size: 300.10 MB +data_structure: 'R1_Lite_move_the_position_of_the_triangle_bread_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (28 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:39 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_open_and_close_curtains.yaml b/dataset_info/Galaxea_R1_Lite_open_and_close_curtains.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2ba6fc1c91b7aba8049772add84e1000a2234ca4 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_open_and_close_curtains.yaml @@ -0,0 +1,461 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_open_and_close_curtains +dataset_uuid: 184bad58-5213-4be2-bb93-7c6d271bf034 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: curtains +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open and close the inner and outer curtains on both sides with the gripper. +sub_tasks: +- subtask: Pull the outeouter curtains open on both sides with the both gripper. + subtask_index: 0 +- subtask: Pull the outer curtains open on both sides. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Pull the inner curtains open on both sides. + subtask_index: 3 +- subtask: Close the outer curtains on both sides. + subtask_index: 4 +- subtask: Pull the inner curtains open on left sides with the left gripper. + subtask_index: 5 +- subtask: Close the right inner curtain with the right gripper. + subtask_index: 6 +- subtask: Pull the inner curtains open on right sides with the right gripper. + subtask_index: 7 +- subtask: Close the left inner curtain with the left gripper. + subtask_index: 8 +- subtask: Close the outeouter curtains on both sides with the both gripper. + subtask_index: 9 +- subtask: Close the inner curtains on both sides. + subtask_index: 10 +- subtask: abnormal. + subtask_index: 11 +- subtask: null. + subtask_index: 12 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 226694 + fps: 30 + total_tasks: 13 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 8.54 GB +frame_num: 226694 +frame_range: 1M +dataset_size: 8.54 GB +data_structure: 'R1_Lite_open_and_close_curtains_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_open_and_close_microwave_oven.yaml b/dataset_info/Galaxea_R1_Lite_open_and_close_microwave_oven.yaml new file mode 100644 index 0000000000000000000000000000000000000000..15b9aa0c674ce3e14bcedff2e53f7e942ab17ac6 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_open_and_close_microwave_oven.yaml @@ -0,0 +1,454 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_open_and_close_microwave_oven +dataset_uuid: 1b797b37-4aab-43be-9f02-cfcf030be8ff +scene_type: + level1: household + level2: restaurant + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: french_fries +- object_name: plate +- object_name: microwave +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Turn on the microwave with the gripper, place the fries into it, turn off the microwave + with the gripper, turn on the microwave with the gripper, pick up the fries with + the gripper, and turn off the microwave with the gripper. +sub_tasks: +- subtask: place the microwave back in its original place. + subtask_index: 0 +- subtask: pick up the plate out of the microwave. + subtask_index: 1 +- subtask: Close the microwave oven. + subtask_index: 2 +- subtask: Open the microwave oven. + subtask_index: 3 +- subtask: place the plate in the microwave oven. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +- push +- pull +- press +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 117 + total_frames: 183612 + fps: 30 + total_tasks: 6 + total_videos: 351 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 7.73 GB +frame_num: 183612 +frame_range: 1M +dataset_size: 7.73 GB +data_structure: 'R1_Lite_open_and_close_microwave_oven_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (105 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:116 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_open_and_close_nightstand_door.yaml b/dataset_info/Galaxea_R1_Lite_open_and_close_nightstand_door.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fd43bd0521052317c52dc1beff2aa9ede4efb8f --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_open_and_close_nightstand_door.yaml @@ -0,0 +1,478 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_open_and_close_nightstand_door +dataset_uuid: 20a3b9fb-6772-4fbe-b39d-00e54dfb1b57 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: nightstand +- object_name: basket +- object_name: pillow +- object_name: bag +- object_name: blue_doll +- object_name: green_doll +- object_name: pink_doll +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the cabinet door and place the doll from the top to the bottom with the gripper. + Then, place the doll from the bottom to the top with the gripper. Close the cabinet + door with the gripper. +sub_tasks: +- subtask: Place the green doll on the lower shelf. + subtask_index: 0 +- subtask: Close the nightstand door. + subtask_index: 1 +- subtask: Place the basket on the lower shelf. + subtask_index: 2 +- subtask: Place the pillow on the higher shelf. + subtask_index: 3 +- subtask: Place the blue doll on the higher shelf. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Place the pillow on the lower shelf. + subtask_index: 6 +- subtask: Place the blue doll on the lower shelf. + subtask_index: 7 +- subtask: abnormal. + subtask_index: 8 +- subtask: Place the bag on the lower shelf. + subtask_index: 9 +- subtask: Place the bag on the higher shelf. + subtask_index: 10 +- subtask: Open the nightstand door. + subtask_index: 11 +- subtask: Place the basket on the higher shelf. + subtask_index: 12 +- subtask: Place the green doll on the higher shelf. + subtask_index: 13 +- subtask: Place the pink doll on the lower shelf. + subtask_index: 14 +- subtask: Place the pink doll on the higher shelf. + subtask_index: 15 +- subtask: null. + subtask_index: 16 +atomic_actions: +- grasp +- pick +- place +- push +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 274445 + fps: 30 + total_tasks: 17 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 11.82 GB +frame_num: 274445 +frame_range: 1M +dataset_size: 11.82 GB +data_structure: 'R1_Lite_open_and_close_nightstand_door_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_open_and_close_nightstand_drawer.yaml b/dataset_info/Galaxea_R1_Lite_open_and_close_nightstand_drawer.yaml new file mode 100644 index 0000000000000000000000000000000000000000..58164ab487631a5e2ea793f0fdd9b5479c5318e9 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_open_and_close_nightstand_drawer.yaml @@ -0,0 +1,454 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_open_and_close_nightstand_drawer +dataset_uuid: f53ef972-f453-4892-bf9c-cd8d3c22762e +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: nightstand +- object_name: remote_control +- object_name: tissue +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the drawer with the gripper and place tissues in and out. Close the drawer + with the gripper. +sub_tasks: +- subtask: Open the nightstand drawer. + subtask_index: 0 +- subtask: place the remote controls on the table into the drawer one by one. + subtask_index: 1 +- subtask: pick up the remote control out of the drawer one by one and place them + on the table. + subtask_index: 2 +- subtask: pick up the tissue out of the drawer one by one and place them on the table. + subtask_index: 3 +- subtask: Close the nightstand drawer. + subtask_index: 4 +- subtask: place the tissue on the table into the drawer one by one. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +- push +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 77 + total_frames: 104258 + fps: 30 + total_tasks: 7 + total_videos: 231 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 7.11 GB +frame_num: 104258 +frame_range: 1M +dataset_size: 7.11 GB +data_structure: 'R1_Lite_open_and_close_nightstand_drawer_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (65 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:76 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_open_and_close_the_freezer_door.yaml b/dataset_info/Galaxea_R1_Lite_open_and_close_the_freezer_door.yaml new file mode 100644 index 0000000000000000000000000000000000000000..966ac100651d2766543ac548ec768a642419d180 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_open_and_close_the_freezer_door.yaml @@ -0,0 +1,480 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_open_and_close_the_freezer_door +dataset_uuid: d59cd2ec-8eab-40f4-a630-29a9bbc3f309 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: freezer +- object_name: ceramic_cup +- object_name: yogurt +- object_name: table +- object_name: paper_cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the refrigerator door with the gripper and place the yogurt cup into the refrigerator. + Close the refrigerator door with the gripper. Pick up the yogurt cup with the gripper + and close the refrigerator door with the gripper. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the ceramic cup on the table. + subtask_index: 2 +- subtask: place the yoghurt in the freezer. + subtask_index: 3 +- subtask: pick up the paper cup out of the freezer. + subtask_index: 4 +- subtask: Place the yoghurt on the table. + subtask_index: 5 +- subtask: pick up the ceramic cup out of the freezer. + subtask_index: 6 +- subtask: place the ceramic cup in the freezer. + subtask_index: 7 +- subtask: pick up the yogurt out of the freezer. + subtask_index: 8 +- subtask: Open the freezer door. + subtask_index: 9 +- subtask: place the paper cup in the freezer. + subtask_index: 10 +- subtask: place the yogurt in the freezer. + subtask_index: 11 +- subtask: Place the paper cup on the table. + subtask_index: 12 +- subtask: Close the freezer door. + subtask_index: 13 +- subtask: Grasp the yogur. + subtask_index: 14 +- subtask: Place the yoghurt on the freezer. + subtask_index: 15 +- subtask: Place the yogurt on the table. + subtask_index: 16 +- subtask: pick up the yoghurt out of the freezer. + subtask_index: 17 +- subtask: null. + subtask_index: 18 +atomic_actions: +- grasp +- pick +- place +- open +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 93 + total_frames: 170369 + fps: 30 + total_tasks: 19 + total_videos: 279 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 6.61 GB +frame_num: 170369 +frame_range: 1M +dataset_size: 6.61 GB +data_structure: 'R1_Lite_open_and_close_the_freezer_door_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (81 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:92 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_open_the_food_pan.yaml b/dataset_info/Galaxea_R1_Lite_open_the_food_pan.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8e7c607c206884dbf69ac4922d21570113a264c9 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_open_the_food_pan.yaml @@ -0,0 +1,450 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_open_the_food_pan +dataset_uuid: 41f586d5-51f7-456a-b30f-ca5a7e7555c2 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: pan +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Fully open the pot lid on the table with the gripper. Close it with the gripper. +sub_tasks: +- subtask: grasp the pot lid with the right arm. + subtask_index: 0 +- subtask: Close the pot lid. + subtask_index: 1 +- subtask: Open the pot lid completely. + subtask_index: 2 +- subtask: grasp the pot lid with the left arm. + subtask_index: 3 +- subtask: Open the food pot lid a small opening with the right arm. + subtask_index: 4 +- subtask: Open the food pot lid a small opening with the left arm. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 94 + total_frames: 74981 + fps: 30 + total_tasks: 7 + total_videos: 282 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 2.55 GB +frame_num: 74981 +frame_range: 100K +dataset_size: 2.55 GB +data_structure: 'R1_Lite_open_the_food_pan_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (82 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:93 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_opening_and_closing_aalcony_sliding_doors.yaml b/dataset_info/Galaxea_R1_Lite_opening_and_closing_aalcony_sliding_doors.yaml new file mode 100644 index 0000000000000000000000000000000000000000..850da25a01d2d18b14653ed55869e344cbd67640 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_opening_and_closing_aalcony_sliding_doors.yaml @@ -0,0 +1,441 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_opening_and_closing_aalcony_sliding_doors +dataset_uuid: 4d71497e-4f98-487e-8f46-e2a076016680 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: sliding_door +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Close the balcony sliding door with the gripper, then open it with the gripper. +sub_tasks: +- subtask: Close the slid door. + subtask_index: 0 +- subtask: Open the slid door. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- push +- pull +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 101 + total_frames: 133637 + fps: 30 + total_tasks: 3 + total_videos: 303 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 6.92 GB +frame_num: 133637 +frame_range: 1M +dataset_size: 6.92 GB +data_structure: 'R1_Lite_opening_and_closing_aalcony_sliding_doors_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (89 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:100 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_peach_storage.yaml b/dataset_info/Galaxea_R1_Lite_peach_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..65b982a8c7a207f906de0b11d0f7b9abef4776d4 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_peach_storage.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_peach_storage +dataset_uuid: e596c797-57d3-4fbb-ba99-5dec78a4c0b2 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: peach +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the basket in the center of the table with the gripper and align it. Then, + place the peaches into the basket with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the light basket on the middle of the table with the left gripper. + subtask_index: 1 +- subtask: Grasp the light basket with the left gripper. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Grasp the peach with the right gripper. + subtask_index: 4 +- subtask: Place the peach into the light basket with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- place +- pick +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 110 + total_frames: 31755 + fps: 30 + total_tasks: 7 + total_videos: 440 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 1.53 GB +frame_num: 31755 +frame_range: 100K +dataset_size: 1.53 GB +data_structure: 'R1_Lite_peach_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (98 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:109 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_pick_up_and_store_items.yaml b/dataset_info/Galaxea_R1_Lite_pick_up_and_store_items.yaml new file mode 100644 index 0000000000000000000000000000000000000000..188dfca43e2402cdf33c3638692a738f96a55343 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_pick_up_and_store_items.yaml @@ -0,0 +1,528 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_pick_up_and_store_items +dataset_uuid: ce4cb36f-2a3e-45e1-80b7-e559203fb5c3 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: drawer +- object_name: tissue_paper +- object_name: disposable_slippers +- object_name: tape +- object_name: solid_beverage +- object_name: shorts +- object_name: roll_paper +- object_name: t_shirt +- object_name: mineral_water +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Store table items into the drawer with the gripper, then place them out with the + gripper and close the drawer with the gripper. +sub_tasks: +- subtask: Place the tissue on the table. + subtask_index: 0 +- subtask: Place the disposable slippers on the table. + subtask_index: 1 +- subtask: pick up out the tissue from the drawer. + subtask_index: 2 +- subtask: place the slippers into the drawer. + subtask_index: 3 +- subtask: pick up out the mineral water from the drawer. + subtask_index: 4 +- subtask: Open the drawer with the both gripper. + subtask_index: 5 +- subtask: Place the roll paper on the table. + subtask_index: 6 +- subtask: Place the shorts on the table. + subtask_index: 7 +- subtask: Place the adhesive tape on the table. + subtask_index: 8 +- subtask: pick up out the disposable slippers from the drawer. + subtask_index: 9 +- subtask: Place the solid drinks on the table. + subtask_index: 10 +- subtask: pick up out the adhesive tape from the drawer. + subtask_index: 11 +- subtask: place the shorts into the drawer. + subtask_index: 12 +- subtask: Close the drawer with the both gripper. + subtask_index: 13 +- subtask: End. + subtask_index: 14 +- subtask: Pick up the tissue on the table. + subtask_index: 15 +- subtask: place the tissue into the drawer. + subtask_index: 16 +- subtask: pick up out the shorts from the drawer. + subtask_index: 17 +- subtask: Pick up the T-shirt on the table. + subtask_index: 18 +- subtask: pick up out the solid drinks from the drawer. + subtask_index: 19 +- subtask: Pick up the mineral water on the table. + subtask_index: 20 +- subtask: place the mineral water into the drawer. + subtask_index: 21 +- subtask: Pick up the adhesive tape on the table. + subtask_index: 22 +- subtask: pick up out the roll paper from the drawer. + subtask_index: 23 +- subtask: Close the drawer. + subtask_index: 24 +- subtask: Open the drawer. + subtask_index: 25 +- subtask: pick up out the T-shirt from the drawer. + subtask_index: 26 +- subtask: place the disposable slippers into the drawer. + subtask_index: 27 +- subtask: place the adhesive tape into the drawer. + subtask_index: 28 +- subtask: pick up the paper out of the drawer and place it on the table. + subtask_index: 29 +- subtask: place the solid drinks into the drawer. + subtask_index: 30 +- subtask: Place the mineral water on the table. + subtask_index: 31 +- subtask: place the T-shirt into the drawer. + subtask_index: 32 +- subtask: abnormal. + subtask_index: 33 +- subtask: Place the T-shirt on the table. + subtask_index: 34 +- subtask: Pick up the solid drinks on the table. + subtask_index: 35 +- subtask: Pick up the disposable slippers on the table. + subtask_index: 36 +- subtask: Pick up the shorts on the table. + subtask_index: 37 +- subtask: Pick up the roll paper on the table. + subtask_index: 38 +- subtask: place the roll paper into the drawer. + subtask_index: 39 +- subtask: null. + subtask_index: 40 +atomic_actions: +- grasp +- pick +- place +- pull +- push +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 108 + total_frames: 125588 + fps: 30 + total_tasks: 41 + total_videos: 324 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 5.78 GB +frame_num: 125588 +frame_range: 1M +dataset_size: 5.78 GB +data_structure: 'R1_Lite_pick_up_and_store_items_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (96 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:107 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_place_the_dress_shirt_on_the_hanger.yaml b/dataset_info/Galaxea_R1_Lite_place_the_dress_shirt_on_the_hanger.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b7db3ce75faa66272e13ec0853ad036d43c917 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_place_the_dress_shirt_on_the_hanger.yaml @@ -0,0 +1,453 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_place_the_dress_shirt_on_the_hanger +dataset_uuid: 99bbe00a-c986-419f-b64a-51eef829a3b8 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: hanger +- object_name: shirt +- object_name: plate +- object_name: bed +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Hang the shirt on the hanger with the gripper, then pick up the hanger with the + gripper and place it on the bed. +sub_tasks: +- subtask: abnormal. + subtask_index: 0 +- subtask: Hook the other side of the shirt onto the hanger. + subtask_index: 1 +- subtask: Hook one side of the shirt onto the hanger. + subtask_index: 2 +- subtask: Lift the shirt and hanger. + subtask_index: 3 +- subtask: pick up the clothes hanger out of the clothes. + subtask_index: 4 +- subtask: Place the hanger on the bed. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 103 + total_frames: 120516 + fps: 30 + total_tasks: 7 + total_videos: 309 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 7.09 GB +frame_num: 120516 +frame_range: 1M +dataset_size: 7.09 GB +data_structure: 'R1_Lite_place_the_dress_shirt_on_the_hanger_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (91 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:102 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_plug_the_socket.yaml b/dataset_info/Galaxea_R1_Lite_plug_the_socket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..10f62e2de190dde164dcad6a49e8f6b2f253699d --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_plug_the_socket.yaml @@ -0,0 +1,453 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_plug_the_socket +dataset_uuid: a456ff6a-8652-485b-a545-1bbcee60a201 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: mosquito_repellent_liquid +- object_name: plug +- object_name: socket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Plug in the mosquito repellent with the gripper. Unplug it with the gripper and + place it on the table with the gripper. +sub_tasks: +- subtask: grasp the socket with your right gripper and unplug it with your left gripper. + subtask_index: 0 +- subtask: abnormal. + subtask_index: 1 +- subtask: Pick up the mosquito repellent liquid. + subtask_index: 2 +- subtask: Place the mosquito repellent liquid on the table. + subtask_index: 3 +- subtask: Insert the plug in the socket. + subtask_index: 4 +- subtask: grasp the socket with your left gripper and unplug it with your right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 96 + total_frames: 115158 + fps: 30 + total_tasks: 7 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 5.14 GB +frame_num: 115158 +frame_range: 1M +dataset_size: 5.14 GB +data_structure: 'R1_Lite_plug_the_socket_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (84 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:95 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_pour_liquid_mrable_bar_counter.yaml b/dataset_info/Galaxea_R1_Lite_pour_liquid_mrable_bar_counter.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7e528b4a71db417a1d922b076fb1035499849056 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_pour_liquid_mrable_bar_counter.yaml @@ -0,0 +1,544 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_pour_liquid_mrable_bar_counter +dataset_uuid: 0828bcf1-11fb-481a-a1c8-3f842f2ecbd3 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: marble_bar_counter +- object_name: plastic_cup +- object_name: green_dish +- object_name: pink_bowl +- object_name: liquid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cup with the gripper and pour the liquid into a bowl or tray with the + gripper. +sub_tasks: +- subtask: Pour the orange juice into the pink bowl with left gripper. + subtask_index: 0 +- subtask: Pour the black tea into the pink bowl with the right gripper. + subtask_index: 1 +- subtask: Grasp the glass of black tea with the right gripper. + subtask_index: 2 +- subtask: Pour the orange juice into the blue basin with right gripper. + subtask_index: 3 +- subtask: Left gripper. + subtask_index: 4 +- subtask: Pour the tea into the pink bowl with left gripper. + subtask_index: 5 +- subtask: Grasp the glass of orange juice with the right gripper. + subtask_index: 6 +- subtask: Pour the tea into the pink bowl with right gripper. + subtask_index: 7 +- subtask: Pick up blue cup filled with tea with right gripper. + subtask_index: 8 +- subtask: Pour the orange juice into the pink bowl with the right gripper. + subtask_index: 9 +- subtask: Pour the orange juice into the pink bowl with the left gripper. + subtask_index: 10 +- subtask: Pour the orange juice into the blue basin with left gripper. + subtask_index: 11 +- subtask: Pour the orange juice into the green bowl with the right gripper. + subtask_index: 12 +- subtask: Place blue cup with tea on the table with right gripper. + subtask_index: 13 +- subtask: Pour the orange juice into the green bowl with the left gripper. + subtask_index: 14 +- subtask: Pour the orange juice into the pink bowl with right gripper. + subtask_index: 15 +- subtask: Place blue cup with orange juice on the table with right gripper. + subtask_index: 16 +- subtask: Pour the black tea into the green bowl with the right gripper. + subtask_index: 17 +- subtask: Pick up blue cup filled with orange juice with right gripper. + subtask_index: 18 +- subtask: Place blue cup with orange juice on the table with left gripper. + subtask_index: 19 +- subtask: Grasp the glass of black tea with the left gripper. + subtask_index: 20 +- subtask: Pour the black tea into the green bowl with the left gripper. + subtask_index: 21 +- subtask: Pour the tea into the blue basin with right gripper. + subtask_index: 22 +- subtask: Pick up blue cup filled with tea with left gripper. + subtask_index: 23 +- subtask: Pour the tea into the blue basin with left gripper. + subtask_index: 24 +- subtask: Pour the black tea into the pink bowl with the left gripper. + subtask_index: 25 +- subtask: Grasp the glass of orange juice with the left gripper. + subtask_index: 26 +- subtask: Place the glass cup with the right gripper. + subtask_index: 27 +- subtask: Pick up blue cup filled with orange juice with left gripper. + subtask_index: 28 +- subtask: End. + subtask_index: 29 +- subtask: Place blue cup with shrimp on the table with right gripper. + subtask_index: 30 +- subtask: Right gripper. + subtask_index: 31 +- subtask: Place blue cup with tea on the table with left gripper. + subtask_index: 32 +- subtask: Place the glass cup with the left gripper. + subtask_index: 33 +- subtask: null. + subtask_index: 34 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 43652 + fps: 30 + total_tasks: 35 + total_videos: 400 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.70 GB +frame_num: 43652 +frame_range: 100K +dataset_size: 1.70 GB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_liquid_mrable_bar_counter_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_pour_powder.yaml b/dataset_info/Galaxea_R1_Lite_pour_powder.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e89c6c499adbb22a5c5edad48df403baaa8e010b --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_pour_powder.yaml @@ -0,0 +1,506 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_pour_powder +dataset_uuid: c8c87b63-bde9-43b3-99c6-52df2881c27c +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: white_table +- object_name: plastic_cup +- object_name: green_dish +- object_name: pink_bowl +- object_name: powder +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cup with the gripper and pour the powder into a bowl or tray with the + gripper. +sub_tasks: +- subtask: Pour the powder into the green bowl with the left gripper. + subtask_index: 0 +- subtask: Pour the powder into the pink bowl with the right gripper. + subtask_index: 1 +- subtask: Pour the milk powder into the blue basin with left gripper. + subtask_index: 2 +- subtask: Place the cup on the table with the right gripper. + subtask_index: 3 +- subtask: Pick up blue cup filled with milk powder with left gripper. + subtask_index: 4 +- subtask: Pour the milk powder into the pink bowl with left gripper. + subtask_index: 5 +- subtask: Place blue cup with coffee powder on the table with left gripper. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: Grasp the glass of powder with the right gripper. + subtask_index: 8 +- subtask: Grasp the glass of powder with the left gripper. + subtask_index: 9 +- subtask: Place the cup on the table with the left gripper. + subtask_index: 10 +- subtask: Place blue cup with milk powder on the table with left gripper. + subtask_index: 11 +- subtask: Pour the powder into the pink bowl with the left gripper. + subtask_index: 12 +- subtask: Pour the powder into the green bowl with the right gripper. + subtask_index: 13 +- subtask: Left gripper. + subtask_index: 14 +- subtask: null. + subtask_index: 15 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 30 + total_frames: 14053 + fps: 30 + total_tasks: 16 + total_videos: 120 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 375.56 MB +frame_num: 14053 +frame_range: 100K +dataset_size: 375.56 MB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_powder_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (18 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:29 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_pour_powder_marble_bar_counter.yaml b/dataset_info/Galaxea_R1_Lite_pour_powder_marble_bar_counter.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5e54f64d504a8ac51e68d5b79368d024381be31b --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_pour_powder_marble_bar_counter.yaml @@ -0,0 +1,530 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_pour_powder_marble_bar_counter +dataset_uuid: a9acc31d-f6b1-4e32-b401-ff63c04911cf +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: marble_bar_counter +- object_name: plastic_cup +- object_name: green_dish +- object_name: pink_bowl +- object_name: powder +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cup with the gripper and pour the powder into a bowl or tray with the + gripper. +sub_tasks: +- subtask: Pour the coffee powder into the pink bowl with right gripper. + subtask_index: 0 +- subtask: Pour the powder into the pink bowl with the right gripper. + subtask_index: 1 +- subtask: Pick up blue cup filled with milk powder with left gripper. + subtask_index: 2 +- subtask: Pour the milk powder into the pink bowl with left gripper. + subtask_index: 3 +- subtask: Place the glass cup down with the right gripper. + subtask_index: 4 +- subtask: Place blue cup with milk powder on the table with left gripper. + subtask_index: 5 +- subtask: Pour the powder into the pink bowl with the left gripper. + subtask_index: 6 +- subtask: Pour the coffee powder into the pink bowl with left gripper. + subtask_index: 7 +- subtask: Left gripper. + subtask_index: 8 +- subtask: Pick up blue cup filled with coffee powder with right gripper. + subtask_index: 9 +- subtask: Pick up blue cup filled with milk powder with right gripper. + subtask_index: 10 +- subtask: Pick up blue cup filled with coffee powder with left gripper. + subtask_index: 11 +- subtask: Place blue cup with coffee powder on the table with right gripper. + subtask_index: 12 +- subtask: Pour the powder into the green bowl with the left gripper. + subtask_index: 13 +- subtask: Pour the coffee powder into the blue basin with right gripper. + subtask_index: 14 +- subtask: Pour the coffee powder into the blue basin with left gripper. + subtask_index: 15 +- subtask: Grasp the glass of powder with the right gripper. + subtask_index: 16 +- subtask: Place the glass cup down with the left gripper. + subtask_index: 17 +- subtask: Pour the milk powder into the pink bowl with right gripper. + subtask_index: 18 +- subtask: Pour the powder into the green bowl with the right gripper. + subtask_index: 19 +- subtask: Pour the milk powder into the blue basin with left gripper. + subtask_index: 20 +- subtask: Place blue cup with milk powder on the table with right gripper. + subtask_index: 21 +- subtask: Place blue cup with coffee powder on the table with left gripper. + subtask_index: 22 +- subtask: Pour the milk powder into the blue basin with right gripper. + subtask_index: 23 +- subtask: End. + subtask_index: 24 +- subtask: Grasp the glass of powder with the left gripper. + subtask_index: 25 +- subtask: Right gripper. + subtask_index: 26 +- subtask: null. + subtask_index: 27 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 39829 + fps: 30 + total_tasks: 28 + total_videos: 400 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.58 GB +frame_num: 39829 +frame_range: 100K +dataset_size: 1.58 GB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_powder_marble_bar_counter_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_pour_solid.yaml b/dataset_info/Galaxea_R1_Lite_pour_solid.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fdf58f61d24ec9a8eed28fdae9de504e30fea95f --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_pour_solid.yaml @@ -0,0 +1,544 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_pour_solid +dataset_uuid: f257d396-486a-4c4d-a5c1-1af3deefcdee +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: white_table +- object_name: plastic_cup +- object_name: green_dish +- object_name: pink_bowl +- object_name: solid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cup with the gripper and pour the solid into a bowl or tray with the + gripper. +sub_tasks: +- subtask: Grasp the glass of shrimp with the left gripper. + subtask_index: 0 +- subtask: Pick up blue cup filled with coffee beans with left gripper. + subtask_index: 1 +- subtask: Place blue cup with coffee beans on the table with left gripper. + subtask_index: 2 +- subtask: Pour the shrimp into the green bowl with the left gripper. + subtask_index: 3 +- subtask: Pour the coffee beans into the pink bowl with the left gripper. + subtask_index: 4 +- subtask: Pour the coffee beans into the pink bowl with the right gripper. + subtask_index: 5 +- subtask: Left gripper. + subtask_index: 6 +- subtask: Pour the shrimp into the green bowl with the right gripper. + subtask_index: 7 +- subtask: Pick up blue cup filled with shrimp with left gripper. + subtask_index: 8 +- subtask: Place blue cup with shrimp on the table with left gripper. + subtask_index: 9 +- subtask: Pick up blue cup filled with coffee beans with right gripper. + subtask_index: 10 +- subtask: Grasp the glass of coffee beans with the left gripper. + subtask_index: 11 +- subtask: Pour the shrimp into the pink bowl with left gripper. + subtask_index: 12 +- subtask: Pour the coffee beans into the green bowl with the left gripper. + subtask_index: 13 +- subtask: Pour the coffee beans into the pink bowl with left gripper. + subtask_index: 14 +- subtask: Grasp the glass of coffee beans with the right gripper. + subtask_index: 15 +- subtask: Pour the coffee beans into the green plate with the right gripper. + subtask_index: 16 +- subtask: Pour the shrimp into the pink bowl with the right gripper. + subtask_index: 17 +- subtask: Grasp the glass of shrimp with the right gripper. + subtask_index: 18 +- subtask: Pour the coffee beans into the green plate with the left gripper. + subtask_index: 19 +- subtask: Place blue cup with coffee powder on the table with left gripper. + subtask_index: 20 +- subtask: Place the glass cup with the right gripper. + subtask_index: 21 +- subtask: Place blue cup with coffee beans on the table with right gripper. + subtask_index: 22 +- subtask: End. + subtask_index: 23 +- subtask: Pour the coffee beans into the green bowl with the right gripper. + subtask_index: 24 +- subtask: Place blue cup with shrimp on the table with right gripper. + subtask_index: 25 +- subtask: Pick up blue cup filled with shrimp with right gripper. + subtask_index: 26 +- subtask: Pour the shrimp into the pink bowl with right gripper. + subtask_index: 27 +- subtask: Pour the shrimp into the pink bowl with the left gripper. + subtask_index: 28 +- subtask: Pour the shrimp into the blue basin with left gripper. + subtask_index: 29 +- subtask: Pour the coffee beans into the blue basin with right gripper. + subtask_index: 30 +- subtask: Right gripper. + subtask_index: 31 +- subtask: Pour the shrimp into the blue basin with right gripper. + subtask_index: 32 +- subtask: Place the glass cup with the left gripper. + subtask_index: 33 +- subtask: null. + subtask_index: 34 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 39 + total_frames: 16353 + fps: 30 + total_tasks: 35 + total_videos: 156 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 459.77 MB +frame_num: 16353 +frame_range: 100K +dataset_size: 459.77 MB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_solid_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (27 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:38 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_pour_solid_marble_bar_counter.yaml b/dataset_info/Galaxea_R1_Lite_pour_solid_marble_bar_counter.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5ae763fa85533559ae67c8c2d7ea0f0a86ff845d --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_pour_solid_marble_bar_counter.yaml @@ -0,0 +1,508 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_pour_solid_marble_bar_counter +dataset_uuid: 0663977a-457f-43f1-8da1-5a0708a985f1 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: marble_bar_counter +- object_name: plastic_cup +- object_name: green_dish +- object_name: pink_bowl +- object_name: solid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cup with the gripper and pour the solid into a bowl or tray with the + gripper. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Grasp the glass of shrimp with the left gripper. + subtask_index: 1 +- subtask: Pour the shrimp beans into the green bowl with the left gripper. + subtask_index: 2 +- subtask: Pour the shrimp beans into the green bowl with the right gripper. + subtask_index: 3 +- subtask: Grasp the glass of coffee beans with the right gripper. + subtask_index: 4 +- subtask: Grasp the glass of coffee beans with the left gripper. + subtask_index: 5 +- subtask: Place the glass cup with the right gripper. + subtask_index: 6 +- subtask: Pour the shrimp into the pink bowl with the left gripper. + subtask_index: 7 +- subtask: End. + subtask_index: 8 +- subtask: Pour the coffee beans into the green bowl with the right gripper. + subtask_index: 9 +- subtask: Pour the coffee beans into the pink bowl with the left gripper. + subtask_index: 10 +- subtask: Pour the shrimp into the pink bowl with the right gripper. + subtask_index: 11 +- subtask: Pour the coffee beans into the pink bowl with the right gripper. + subtask_index: 12 +- subtask: Grasp the glass of shrimp with the right gripper. + subtask_index: 13 +- subtask: Place the glass cup with the left gripper. + subtask_index: 14 +- subtask: Pour the coffee beans into the green bowl with the left gripper. + subtask_index: 15 +- subtask: null. + subtask_index: 16 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 85 + total_frames: 31250 + fps: 30 + total_tasks: 17 + total_videos: 340 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.29 GB +frame_num: 31250 +frame_range: 100K +dataset_size: 1.29 GB +data_structure: 'Galaxea_R1_Lite_pour_solid_marble_bar_counter_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (73 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:84 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_pour_water.yaml b/dataset_info/Galaxea_R1_Lite_pour_water.yaml new file mode 100644 index 0000000000000000000000000000000000000000..828ce336b20b8de474e0ed7bd14c548b753b7572 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_pour_water.yaml @@ -0,0 +1,563 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_pour_water +dataset_uuid: 6f51b274-2073-4ca8-9956-74c838c5491d +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: white_table +- object_name: any_cup +- object_name: water +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pour the water into the other two cups with the gripper. +sub_tasks: +- subtask: Pick up the gray plastic cup with left gripper. + subtask_index: 0 +- subtask: Pour water from blue cup to white cup with the left gripper. + subtask_index: 1 +- subtask: Pour water from white cup to blue cup with the right gripper. + subtask_index: 2 +- subtask: Grasp the green cup with the left gripper. + subtask_index: 3 +- subtask: Place the blue plastic cup on the table with left gripper. + subtask_index: 4 +- subtask: Pour water from blue cup to green cup with the right gripper. + subtask_index: 5 +- subtask: Pour water from white cup to green cup with the right gripper. + subtask_index: 6 +- subtask: Left gripper. + subtask_index: 7 +- subtask: Pour water into the green plastic cup with right gripper. + subtask_index: 8 +- subtask: Pour water from blue cup to green cup with the left gripper. + subtask_index: 9 +- subtask: Grasp the blue cup with the left gripper. + subtask_index: 10 +- subtask: Pick up the green plastic cup with right gripper. + subtask_index: 11 +- subtask: Pour water into the blue plastic cup with left gripper. + subtask_index: 12 +- subtask: Place the white cup with the right gripper. + subtask_index: 13 +- subtask: Grasp the white cup with the right gripper. + subtask_index: 14 +- subtask: Pick up the blue plastic cup with right gripper. + subtask_index: 15 +- subtask: Place the white cup with the left gripper. + subtask_index: 16 +- subtask: Place the blue cup with the right gripper. + subtask_index: 17 +- subtask: Place the gray plastic cup on the table with left gripper. + subtask_index: 18 +- subtask: Pick up the green plastic cup with left gripper. + subtask_index: 19 +- subtask: Pour water into the blue plastic cup with right gripper. + subtask_index: 20 +- subtask: Pick up the gray plastic cup with right gripper. + subtask_index: 21 +- subtask: Grasp the green cup with the right gripper. + subtask_index: 22 +- subtask: Pick up the blue plastic cup with left gripper. + subtask_index: 23 +- subtask: Grasp the white cup with the left gripper. + subtask_index: 24 +- subtask: Pour water from white cup to green cup with the left gripper. + subtask_index: 25 +- subtask: Pour water from blue cup to white cup with the right gripper. + subtask_index: 26 +- subtask: Place the blue plastic cup on the table with right gripper. + subtask_index: 27 +- subtask: Place the gray plastic cup on the table with right gripper. + subtask_index: 28 +- subtask: Pour water from white cup to blue cup with the left gripper. + subtask_index: 29 +- subtask: Right gripper. + subtask_index: 30 +- subtask: Place the green plastic cup on the table with left gripper. + subtask_index: 31 +- subtask: Pour water from green cup to blue cup with the right gripper. + subtask_index: 32 +- subtask: Place the green plastic cup on the table with right gripper. + subtask_index: 33 +- subtask: Grasp the blue cup with the right gripper. + subtask_index: 34 +- subtask: Pour water from green cup to blue cup with the left gripper. + subtask_index: 35 +- subtask: Place the green cup with the right gripper. + subtask_index: 36 +- subtask: Place the green cup with the left gripper. + subtask_index: 37 +- subtask: End. + subtask_index: 38 +- subtask: Pour water from green cup to white cup with the right gripper. + subtask_index: 39 +- subtask: Place the blue cup with the left gripper. + subtask_index: 40 +- subtask: Pour water from green cup to white cup with the left gripper. + subtask_index: 41 +- subtask: Pour water into the green plastic cup with left gripper. + subtask_index: 42 +- subtask: Pour water into the gray plastic cup with right gripper. + subtask_index: 43 +- subtask: Pour water into the gray plastic cup with left gripper. + subtask_index: 44 +- subtask: null. + subtask_index: 45 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 43201 + fps: 30 + total_tasks: 46 + total_videos: 400 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 932.69 MB +frame_num: 43201 +frame_range: 100K +dataset_size: 932.69 MB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_water_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_pour_water_black_tablecloth.yaml b/dataset_info/Galaxea_R1_Lite_pour_water_black_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8bd136c8ee2c1c3d668777a24d46f977c666de3a --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_pour_water_black_tablecloth.yaml @@ -0,0 +1,559 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_pour_water_black_tablecloth +dataset_uuid: 46fee6bd-b71c-44db-98bd-caeedb07cc17 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: black_table_cloth +- object_name: any_cup +- object_name: water +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pour the water into the other two cups on the black table with the gripper. +sub_tasks: +- subtask: Pick up the gray plastic cup with left gripper. + subtask_index: 0 +- subtask: Pour water from blue cup to white cup with the left gripper. + subtask_index: 1 +- subtask: Pour water from white cup to blue cup with the right gripper. + subtask_index: 2 +- subtask: Grasp the green cup with the left gripper. + subtask_index: 3 +- subtask: Place the blue plastic cup on the table with left gripper. + subtask_index: 4 +- subtask: Pour water from blue cup to green cup with the right gripper. + subtask_index: 5 +- subtask: Pour water from white cup to green cup with the right gripper. + subtask_index: 6 +- subtask: Left gripper. + subtask_index: 7 +- subtask: Pick up the green plastic cup with right gripper. + subtask_index: 8 +- subtask: Pour water from blue cup to green cup with the left gripper. + subtask_index: 9 +- subtask: Grasp the blue cup with the left gripper. + subtask_index: 10 +- subtask: Pour water into the green plastic cup with right gripper. + subtask_index: 11 +- subtask: Pour water into the blue plastic cup with left gripper. + subtask_index: 12 +- subtask: Place the white cup with the right gripper. + subtask_index: 13 +- subtask: Grasp the white cup with the right gripper. + subtask_index: 14 +- subtask: Pick up the blue plastic cup with right gripper. + subtask_index: 15 +- subtask: Place the white cup with the left gripper. + subtask_index: 16 +- subtask: Place the blue cup with the right gripper. + subtask_index: 17 +- subtask: Place the gray plastic cup on the table with left gripper. + subtask_index: 18 +- subtask: Pick up the green plastic cup with left gripper. + subtask_index: 19 +- subtask: Pour water into the blue plastic cup with right gripper. + subtask_index: 20 +- subtask: Grasp the green cup with the right gripper. + subtask_index: 21 +- subtask: Pick up the blue plastic cup with left gripper. + subtask_index: 22 +- subtask: Grasp the white cup with the left gripper. + subtask_index: 23 +- subtask: Pour water from white cup to green cup with the left gripper. + subtask_index: 24 +- subtask: Pour water from blue cup to white cup with the right gripper. + subtask_index: 25 +- subtask: Place the blue plastic cup on the table with right gripper. + subtask_index: 26 +- subtask: Pour water from white cup to blue cup with the left gripper. + subtask_index: 27 +- subtask: Pour water into the green plastic cup with left gripper. + subtask_index: 28 +- subtask: Pour water from green cup to blue cup with the right gripper. + subtask_index: 29 +- subtask: Place the green plastic cup on the table with left gripper. + subtask_index: 30 +- subtask: Place the green plastic cup on the table with right gripper. + subtask_index: 31 +- subtask: Grasp the blue cup with the right gripper. + subtask_index: 32 +- subtask: Place the green cup with the right gripper. + subtask_index: 33 +- subtask: Pour water from green cup to blue cup with the left gripper. + subtask_index: 34 +- subtask: Place the green cup with the left gripper. + subtask_index: 35 +- subtask: End. + subtask_index: 36 +- subtask: Place the blue cup with the left gripper. + subtask_index: 37 +- subtask: Pour water from green cup to white cup with the left gripper. + subtask_index: 38 +- subtask: Right gripper. + subtask_index: 39 +- subtask: Pour water into the gray plastic cup with right gripper. + subtask_index: 40 +- subtask: Pour water into the gray plastic cup with left gripper. + subtask_index: 41 +- subtask: Pour water from green cup to white cup with the right gripper. + subtask_index: 42 +- subtask: null. + subtask_index: 43 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 42644 + fps: 30 + total_tasks: 44 + total_videos: 392 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.43 GB +frame_num: 42644 +frame_range: 100K +dataset_size: 1.43 GB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_water_black_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:97 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_put_on_a_garbage_bag.yaml b/dataset_info/Galaxea_R1_Lite_put_on_a_garbage_bag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bd21f1a0d30ac11d376f07fe9d78bd731e25d657 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_put_on_a_garbage_bag.yaml @@ -0,0 +1,469 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_put_on_a_garbage_bag +dataset_uuid: c689a888-c8c9-4a05-a250-680b40218803 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: trash_bag +- object_name: trash_can +- object_name: trash_can_ring +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Replace the garbage bag on the can, then place the ring on it with the gripper. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp a new trash bag with the right gripper. + subtask_index: 2 +- subtask: place the new garbage bag on the trash can. + subtask_index: 3 +- subtask: Place the trash can ring on the trash can with the right gripper. + subtask_index: 4 +- subtask: Pick up the trash bag. + subtask_index: 5 +- subtask: Grasp the trash bag with the right gripper. + subtask_index: 6 +- subtask: place the trash can ring on the floor with right gripper. + subtask_index: 7 +- subtask: Place the trash bag on the floor with the right gripper. + subtask_index: 8 +- subtask: Place the trash can ring on the floor. + subtask_index: 9 +- subtask: Pick up a new trash bag. + subtask_index: 10 +- subtask: place the new garbage bag on the trash can. + subtask_index: 11 +- subtask: Place the trash can ring on the trash can. + subtask_index: 12 +- subtask: Place the trash bag on the floor. + subtask_index: 13 +- subtask: abnormal. + subtask_index: 14 +- subtask: null. + subtask_index: 15 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 133 + total_frames: 252689 + fps: 30 + total_tasks: 16 + total_videos: 399 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 11.00 GB +frame_num: 252689 +frame_range: 1M +dataset_size: 11.00 GB +data_structure: 'R1_Lite_put_on_a_garbage_bag_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (121 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:132 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.yaml b/dataset_info/Galaxea_R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a07a524c401eedf9cab89bb1251161598d5aa934 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.yaml @@ -0,0 +1,448 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_put_slippers_into_floor_standing_shoe_cabinet +dataset_uuid: 3a43ccf0-8e1e-4bba-9a30-6a9a8bcefc6f +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: shoe_cabinet +- object_name: slippers +- object_name: floor +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the slippers from the floor to the cabinet with the gripper. Place them back + to the floor with the gripper. +sub_tasks: +- subtask: Pick up the slippers in the shoe cabinet. + subtask_index: 0 +- subtask: Place the slippers into the shoe cabinet. + subtask_index: 1 +- subtask: Pick up the slippers on the floor. + subtask_index: 2 +- subtask: Place the slippers on the floor. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 107 + total_frames: 183363 + fps: 30 + total_tasks: 5 + total_videos: 321 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 11.59 GB +frame_num: 183363 +frame_range: 1M +dataset_size: 11.59 GB +data_structure: 'R1_Lite_put_slippers_into_floor_standing_shoe_cabinet_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (95 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:106 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_put_the_pillow_on_the_bed.yaml b/dataset_info/Galaxea_R1_Lite_put_the_pillow_on_the_bed.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8b72d84943589541a7ba925d1837c4710b80bb95 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_put_the_pillow_on_the_bed.yaml @@ -0,0 +1,449 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_put_the_pillow_on_the_bed +dataset_uuid: c25eff25-52c9-4178-a906-2f1040e89068 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: pillow +- object_name: bed +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the pillow from the bedside to the head of the bed with the left gripper, then + to the foot of the bed with the right gripper. +sub_tasks: +- subtask: Pick up the pillow. + subtask_index: 0 +- subtask: Place the pillow at the end of the bed. + subtask_index: 1 +- subtask: Move to the head of the bed. + subtask_index: 2 +- subtask: Move to the foot of the bed. + subtask_index: 3 +- subtask: Place the pillow at the bedside. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 53484 + fps: 30 + total_tasks: 6 + total_videos: 144 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 1.66 GB +frame_num: 53484 +frame_range: 100K +dataset_size: 1.66 GB +data_structure: 'R1_Lite_put_the_pillow_on_the_bed_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:47 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_put_the_shoes_into_the_shoe_box.yaml b/dataset_info/Galaxea_R1_Lite_put_the_shoes_into_the_shoe_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..46338bcaf5ccf2c3c2c9adaf03df7c5d5ea8ffde --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_put_the_shoes_into_the_shoe_box.yaml @@ -0,0 +1,449 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_put_the_shoes_into_the_shoe_box +dataset_uuid: 87e16c2a-8d5b-4e0b-9706-cfae7e2b29e9 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: shoes +- object_name: shoe_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the shoes out of the box with the gripper and place them back in, then close + it. +sub_tasks: +- subtask: place the shoes out of the shoe box. + subtask_index: 0 +- subtask: abnormal. + subtask_index: 1 +- subtask: place the shoes into the shoe box. + subtask_index: 2 +- subtask: Open the shoe box. + subtask_index: 3 +- subtask: Close the shoe box. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 106 + total_frames: 87219 + fps: 30 + total_tasks: 6 + total_videos: 318 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 3.78 GB +frame_num: 87219 +frame_range: 100K +dataset_size: 3.78 GB +data_structure: 'R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (94 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:105 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_put_the_tableware_into_the_cupboard.yaml b/dataset_info/Galaxea_R1_Lite_put_the_tableware_into_the_cupboard.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e9df4456ae89b0af8865bd4e4486d6fc0482dd71 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_put_the_tableware_into_the_cupboard.yaml @@ -0,0 +1,497 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_put_the_tableware_into_the_cupboard +dataset_uuid: 49bc9e7b-4491-4846-95a2-082b0e4f9178 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cabinet +- object_name: bowl +- object_name: chopsticks +- object_name: spoon +- object_name: fork +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the tableware in the cabinet with the gripper, then move it back to the counter + with the gripper and close the cabinet with the gripper. +sub_tasks: +- subtask: Place the fork in the cutlery box. + subtask_index: 0 +- subtask: Place the spoon on the plate. + subtask_index: 1 +- subtask: pick up the bowl out of the cupboard. + subtask_index: 2 +- subtask: Pick up the bowl and place it in the cupboard. + subtask_index: 3 +- subtask: pick up the chopsticks out of the cupboard. + subtask_index: 4 +- subtask: Pull apart the shelf. + subtask_index: 5 +- subtask: Pick up the chopsticks and place it in the cupboard. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: pick up the plate out of the cupboard. + subtask_index: 8 +- subtask: Place the bowl on the shelf. + subtask_index: 9 +- subtask: pick up the fork out of the cupboard. + subtask_index: 10 +- subtask: Abnormal. + subtask_index: 11 +- subtask: Place the plate on the table. + subtask_index: 12 +- subtask: Pick up the plate and place it in the cupboard. + subtask_index: 13 +- subtask: Place a chopstick on the table. + subtask_index: 14 +- subtask: Place the plate on the shelf. + subtask_index: 15 +- subtask: Pull apart the cupboard. + subtask_index: 16 +- subtask: Place the fork on the table. + subtask_index: 17 +- subtask: Place a pair of chopsticks in the cutlery box. + subtask_index: 18 +- subtask: pick up the spoon out of the cupboard. + subtask_index: 19 +- subtask: Place the bowl on the plate. + subtask_index: 20 +- subtask: Place the spoon on the table. + subtask_index: 21 +- subtask: Place the spoon on the cutlery box. + subtask_index: 22 +- subtask: Open the cupboard. + subtask_index: 23 +- subtask: Pick up the spoon and place it in the cupboard. + subtask_index: 24 +- subtask: Close the cupboard. + subtask_index: 25 +- subtask: Pick up the fork and place it in the cupboard. + subtask_index: 26 +- subtask: null. + subtask_index: 27 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 143 + total_frames: 367607 + fps: 30 + total_tasks: 28 + total_videos: 429 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 15.46 GB +frame_num: 367607 +frame_range: 1M +dataset_size: 15.46 GB +data_structure: 'R1_Lite_put_the_tableware_into_the_cupboard_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (131 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:142 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_sliding_chair.yaml b/dataset_info/Galaxea_R1_Lite_sliding_chair.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7bb23ff28c19e3f772c5294479bc7b3be4e182e3 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_sliding_chair.yaml @@ -0,0 +1,446 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_sliding_chair +dataset_uuid: 4bd1c96c-6ba1-4688-b331-2557a39894e2 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: chair +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pull the chair out from the table with the gripper. Place it back with the gripper. +sub_tasks: +- subtask: Push the gray chair back under the dining table. + subtask_index: 0 +- subtask: Pull the gray chair out from under the dining table. + subtask_index: 1 +- subtask: Push the blue chair back under the dining table. + subtask_index: 2 +- subtask: Pull the blue chair out from under the dining table. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 87 + total_frames: 142290 + fps: 30 + total_tasks: 5 + total_videos: 261 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 6.58 GB +frame_num: 142290 +frame_range: 1M +dataset_size: 6.58 GB +data_structure: 'R1_Lite_sliding_chair_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (75 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:86 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_stack_baskets.yaml b/dataset_info/Galaxea_R1_Lite_stack_baskets.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2cce1a80f717328aa01cf2a67dcfd79e9ef0d6f8 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_stack_baskets.yaml @@ -0,0 +1,483 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_stack_baskets +dataset_uuid: 4b7a3d8c-18c0-45af-9337-02adad3a72de +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the basket in the center with the gripper. Stack a basket on top of another + basket with the gripper. +sub_tasks: +- subtask: Grasp the dark basket with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the light basket on the middle of the table with the left gripper. + subtask_index: 2 +- subtask: Grasp the light basket with the left gripper. + subtask_index: 3 +- subtask: Place the dark basket into the light color basket with the right gripper. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- place +- pick +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_left_rgb +- cam_high_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_high_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 101 + total_frames: 57189 + fps: 30 + total_tasks: 7 + total_videos: 404 + total_chunks: 1 + chunks_size: 1000 + state_dim: 16 + action_dim: 18 + camera_views: 4 + dataset_size: 4.08 GB +frame_num: 57189 +frame_range: 100K +dataset_size: 4.08 GB +data_structure: 'R1_Lite_stack_baskets_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (89 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_left_rgb + + | |-- observation.images.cam_high_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:100 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_left_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_blue_plate.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_blue_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5f435a8ea61916be5099cadc2f1deb196833d285 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_storage_object_blue_plate.yaml @@ -0,0 +1,666 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_storage_object_blue_plate +dataset_uuid: fc51546f-0f50-429e-854b-e9ee18381eeb +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: blue_plate +- object_name: banana +- object_name: bathing_in_flowers +- object_name: blue_cup +- object_name: blue_pot +- object_name: toast_slices +- object_name: brown_towel +- object_name: can +- object_name: coke(slim_can) +- object_name: potato_chips +- object_name: chocolate +- object_name: compass +- object_name: block_pillar +- object_name: egg_beater +- object_name: eraser +- object_name: chewing_gum +- object_name: mentholatum_facial_cleanser +- object_name: green_lemon +- object_name: peach +- object_name: power_strip +- object_name: round_bread +- object_name: mentholatum_facial_cleanser +- object_name: square_building_blocks +- object_name: tape +- object_name: cake +- object_name: duck +- object_name: ambrosial_yogurt +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the target object with the gripper and place it on the blue plate. +sub_tasks: +- subtask: Place the shower sphere on the blue plate with the left gripper. + subtask_index: 0 +- subtask: Place the round wooden block on the blue plate with the right gripper. + subtask_index: 1 +- subtask: Grasp the blue pot with the left gripper. + subtask_index: 2 +- subtask: Grasp the plugboard with the left gripper. + subtask_index: 3 +- subtask: Place the soft facial cleanser on the blue plate with the right gripper. + subtask_index: 4 +- subtask: Place the potato chips on the blue plate with the right gripper. + subtask_index: 5 +- subtask: Grasp the Itchy scratcher with the right gripper. + subtask_index: 6 +- subtask: Place the duck toy on the blue plate with the right gripper. + subtask_index: 7 +- subtask: Grasp the potato chips with the right gripper. + subtask_index: 8 +- subtask: Place the tin on the blue plate with the left gripper. + subtask_index: 9 +- subtask: Grasp the banana with the left gripper. + subtask_index: 10 +- subtask: Place the chocolate cake on the blue plate with the right gripper. + subtask_index: 11 +- subtask: Place the blue cup on the blue plate with the right gripper. + subtask_index: 12 +- subtask: Place the blue pot on the blue plate with the left gripper. + subtask_index: 13 +- subtask: Place the tape on the blue plate with the left gripper. + subtask_index: 14 +- subtask: Grasp the compasses with the right gripper. + subtask_index: 15 +- subtask: Grasp the duck toy with the left gripper. + subtask_index: 16 +- subtask: Place the blackboard erasure on the blue plate with the right gripper. + subtask_index: 17 +- subtask: Place the tin on the blue plate with the right gripper. + subtask_index: 18 +- subtask: Grasp the blue cup with the left gripper. + subtask_index: 19 +- subtask: Grasp the square chewing gum with the left gripper. + subtask_index: 20 +- subtask: Grasp the chocolate cake with the right gripper. + subtask_index: 21 +- subtask: Grasp the shower sphere with the left gripper. + subtask_index: 22 +- subtask: Place the compasses on the blue plate with the right gripper. + subtask_index: 23 +- subtask: Grasp the plugboard with the right gripper. + subtask_index: 24 +- subtask: Grasp the yogurt with the right gripper. + subtask_index: 25 +- subtask: Place the round wooden block on the blue plate with the left gripper. + subtask_index: 26 +- subtask: Place the banana on the blue plate with the left gripper. + subtask_index: 27 +- subtask: Grasp the tin with the left gripper. + subtask_index: 28 +- subtask: Grasp the brown towel with the left gripper. + subtask_index: 29 +- subtask: Grasp the hard facial cleanser with the left gripper. + subtask_index: 30 +- subtask: Place the Itchy scratcher on the blue plate with the right gripper. + subtask_index: 31 +- subtask: Grasp the chocolate with the right gripper. + subtask_index: 32 +- subtask: Grasp the peach with the right gripper. + subtask_index: 33 +- subtask: Grasp the brown towel with the right gripper. + subtask_index: 34 +- subtask: Place the coke on the blue plate with the left gripper. + subtask_index: 35 +- subtask: Grasp the hard facial cleanser with the right gripper. + subtask_index: 36 +- subtask: Place the compasses on the blue plate with the left gripper. + subtask_index: 37 +- subtask: Place the hard facial cleanser on the blue plate with the left gripper. + subtask_index: 38 +- subtask: Place the yogurt on the blue plate with the right gripper. + subtask_index: 39 +- subtask: Grasp the peach with the left gripper. + subtask_index: 40 +- subtask: Place the square wooden block on the blue plate with the right gripper. + subtask_index: 41 +- subtask: Grasp the duck toy with the right gripper. + subtask_index: 42 +- subtask: End. + subtask_index: 43 +- subtask: Place the duck toy on the blue plate with the left gripper. + subtask_index: 44 +- subtask: Grasp the coke with the left gripper. + subtask_index: 45 +- subtask: Grasp the round wooden block with the left gripper. + subtask_index: 46 +- subtask: Place the round bread on the blue plate with the left gripper. + subtask_index: 47 +- subtask: Place the plugboard on the blue plate with the left gripper. + subtask_index: 48 +- subtask: Grasp the compasses with the left gripper. + subtask_index: 49 +- subtask: Place the green lemon on the blue plate with the left gripper. + subtask_index: 50 +- subtask: Place the peach on the blue plate with the right gripper. + subtask_index: 51 +- subtask: Place the chocolate on the blue plate with the right gripper. + subtask_index: 52 +- subtask: Grasp the blue pot with the right gripper. + subtask_index: 53 +- subtask: Grasp the round bread with the right gripper. + subtask_index: 54 +- subtask: Grasp the chocolate cake with the left gripper. + subtask_index: 55 +- subtask: Place the hard facial cleanser on the blue plate with the right gripper. + subtask_index: 56 +- subtask: Place the brown towel on the blue plate with the right gripper. + subtask_index: 57 +- subtask: Grasp the tin with the right gripper. + subtask_index: 58 +- subtask: Place the blue cup on the blue plate with the left gripper. + subtask_index: 59 +- subtask: Grasp the tape with the right gripper. + subtask_index: 60 +- subtask: Grasp the coke with the right gripper. + subtask_index: 61 +- subtask: Grasp the tape with the left gripper. + subtask_index: 62 +- subtask: Grasp the shower sphere with the right gripper. + subtask_index: 63 +- subtask: Place the banana on the blue plate with the right gripper. + subtask_index: 64 +- subtask: Place the shower sphere on the blue plate with the right gripper. + subtask_index: 65 +- subtask: Grasp the blackboard erasure with the right gripper. + subtask_index: 66 +- subtask: Place the square chewing gum on the blue plate with the left gripper. + subtask_index: 67 +- subtask: Place the plugboard on the blue plate with the right gripper. + subtask_index: 68 +- subtask: Place the round bread on the blue plate with the right gripper. + subtask_index: 69 +- subtask: Place the chocolate cake on the blue plate with the left gripper. + subtask_index: 70 +- subtask: Grasp the round bread with the left gripper. + subtask_index: 71 +- subtask: Place the brown towel on the blue plate with the left gripper. + subtask_index: 72 +- subtask: Grasp the square wooden block with the left gripper. + subtask_index: 73 +- subtask: Place the coke on the blue plate with the right gripper. + subtask_index: 74 +- subtask: Grasp the blue cup with the right gripper. + subtask_index: 75 +- subtask: Grasp the soft facial cleanser with the right gripper. + subtask_index: 76 +- subtask: Place the tape on the blue plate with the right gripper. + subtask_index: 77 +- subtask: Grasp the square wooden block with the right gripper. + subtask_index: 78 +- subtask: Grasp the green lemon with the left gripper. + subtask_index: 79 +- subtask: Place the square wooden block on the blue plate with the left gripper. + subtask_index: 80 +- subtask: Place the peach on the blue plate with the left gripper. + subtask_index: 81 +- subtask: Grasp the round wooden block with the right gripper. + subtask_index: 82 +- subtask: Place the blue pot on the blue plate with the right gripper. + subtask_index: 83 +- subtask: Grasp the banana with the right gripper. + subtask_index: 84 +- subtask: null. + subtask_index: 85 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 102 + total_frames: 19084 + fps: 30 + total_tasks: 86 + total_videos: 408 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 740.73 MB +frame_num: 19084 +frame_range: 100K +dataset_size: 740.73 MB +data_structure: 'Galaxea_R1_Lite_storage_object_blue_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (90 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:101 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_brown_basket.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_brown_basket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2f2267bd71bd1501862890dd4d25facaa9abf663 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_storage_object_brown_basket.yaml @@ -0,0 +1,670 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_storage_object_brown_basket +dataset_uuid: 3c24459e-3c1f-4aa4-815d-b6fcbdea1258 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: brown_basket +- object_name: banana +- object_name: bathing_in_flowers +- object_name: blue_cup +- object_name: blue_pot +- object_name: toast_slices +- object_name: brown_towel +- object_name: can +- object_name: coke(slim_can) +- object_name: potato_chips +- object_name: chocolate +- object_name: compass +- object_name: block_pillar +- object_name: egg_beater +- object_name: eraser +- object_name: chewing_gum +- object_name: mentholatum_facial_cleanser +- object_name: green_lemon +- object_name: peach +- object_name: power_strip +- object_name: round_bread +- object_name: mentholatum_facial_cleanser +- object_name: square_building_blocks +- object_name: tape +- object_name: cake +- object_name: duck +- object_name: ambrosial_yogurt +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the target object with the gripper and place it on the brown basket. +sub_tasks: +- subtask: Grasp the blue pot with the left gripper. + subtask_index: 0 +- subtask: Grasp the plugboard with the left gripper. + subtask_index: 1 +- subtask: Place the potato chips into the basket with the left gripper. + subtask_index: 2 +- subtask: Place the banana into the basket with the left gripper. + subtask_index: 3 +- subtask: Place the coke into the basket with the left gripper. + subtask_index: 4 +- subtask: Place the brown towel into the basket with the right gripper. + subtask_index: 5 +- subtask: Place the peach cut into the basket with the right gripper. + subtask_index: 6 +- subtask: Grasp the banana with the left gripper. + subtask_index: 7 +- subtask: Place the round wooden block into the basket with the right gripper. + subtask_index: 8 +- subtask: Place the duck toy into the basket with the right gripper. + subtask_index: 9 +- subtask: Grasp the compasses with the right gripper. + subtask_index: 10 +- subtask: Place the blackboard erasure into the basket with the left gripper. + subtask_index: 11 +- subtask: Place the plugboard into the basket with the left gripper. + subtask_index: 12 +- subtask: Place the square chewing gum into the basket with the right gripper. + subtask_index: 13 +- subtask: Grasp the duck toy with the left gripper. + subtask_index: 14 +- subtask: Grasp the cookie with the right gripper. + subtask_index: 15 +- subtask: Grasp the blue cup with the left gripper. + subtask_index: 16 +- subtask: Place the blackboard erasure into the basket with the right gripper. + subtask_index: 17 +- subtask: Place the hard facial cleanser into the basket with the left gripper. + subtask_index: 18 +- subtask: Place the round bread into the basket with the left gripper. + subtask_index: 19 +- subtask: Place the square wooden block into the basket with the right gripper. + subtask_index: 20 +- subtask: Grasp the soft facial cleanser with the left gripper. + subtask_index: 21 +- subtask: Place the blue pot into the basket with the left gripper. + subtask_index: 22 +- subtask: Grasp the peach cut with the right gripper. + subtask_index: 23 +- subtask: Place the soft facial cleanser into the basket with the left gripper. + subtask_index: 24 +- subtask: Grasp the square chewing gum with the left gripper. + subtask_index: 25 +- subtask: Place the shower sphere into the basket with the left gripper. + subtask_index: 26 +- subtask: Place the yogurt into the basket with the right gripper. + subtask_index: 27 +- subtask: Grasp the chocolate cake with the right gripper. + subtask_index: 28 +- subtask: Place the round wooden block into the basket with the left gripper. + subtask_index: 29 +- subtask: Place the back scratcher into the basket with the left gripper. + subtask_index: 30 +- subtask: Grasp the shower sphere with the left gripper. + subtask_index: 31 +- subtask: Grasp the yogurt with the right gripper. + subtask_index: 32 +- subtask: Grasp the tin with the left gripper. + subtask_index: 33 +- subtask: Grasp the brown towel with the left gripper. + subtask_index: 34 +- subtask: Grasp the hard facial cleanser with the left gripper. + subtask_index: 35 +- subtask: Grasp the brown towel with the right gripper. + subtask_index: 36 +- subtask: Grasp the back scratcher with the left gripper. + subtask_index: 37 +- subtask: Place the hard facial cleanser into the basket with the right gripper. + subtask_index: 38 +- subtask: Grasp the hard facial cleanser with the right gripper. + subtask_index: 39 +- subtask: Place the green lemon into the basket with the right gripper. + subtask_index: 40 +- subtask: Place the banana into the basket with the right gripper. + subtask_index: 41 +- subtask: Place the compasses into the basket with the right gripper. + subtask_index: 42 +- subtask: Place the compasses into the basket with the left gripper. + subtask_index: 43 +- subtask: Grasp the green lemon with the right gripper. + subtask_index: 44 +- subtask: Grasp the bread cut with the right gripper. + subtask_index: 45 +- subtask: Place the duck toy into the basket with the left gripper. + subtask_index: 46 +- subtask: Place the chocolate cake into the basket with the right gripper. + subtask_index: 47 +- subtask: Place the shower sphere into the basket with the right gripper. + subtask_index: 48 +- subtask: Grasp the potato chips with the left gripper. + subtask_index: 49 +- subtask: Grasp the duck toy with the right gripper. + subtask_index: 50 +- subtask: End. + subtask_index: 51 +- subtask: Place the cookie into the basket with the right gripper. + subtask_index: 52 +- subtask: Place the tape into the basket with the right gripper. + subtask_index: 53 +- subtask: Grasp the blackboard erasure with the left gripper. + subtask_index: 54 +- subtask: Place the bread cut into the basket with the left gripper. + subtask_index: 55 +- subtask: Grasp the coke with the left gripper. + subtask_index: 56 +- subtask: Grasp the round wooden block with the left gripper. + subtask_index: 57 +- subtask: Place the tape into the basket with the left gripper. + subtask_index: 58 +- subtask: Place the blue cup into the basket with the left gripper. + subtask_index: 59 +- subtask: Grasp the compasses with the left gripper. + subtask_index: 60 +- subtask: Grasp the blue pot with the right gripper. + subtask_index: 61 +- subtask: Grasp the round bread with the right gripper. + subtask_index: 62 +- subtask: Grasp the chocolate cake with the left gripper. + subtask_index: 63 +- subtask: Place the blue pot into the basket with the right gripper. + subtask_index: 64 +- subtask: Grasp the tin with the right gripper. + subtask_index: 65 +- subtask: Place the tin into the basket with the left gripper. + subtask_index: 66 +- subtask: Grasp the tape with the right gripper. + subtask_index: 67 +- subtask: Place the square chewing gum into the basket with the left gripper. + subtask_index: 68 +- subtask: Place the bread cut into the basket with the right gripper. + subtask_index: 69 +- subtask: Grasp the tape with the left gripper. + subtask_index: 70 +- subtask: Place the blue cup into the basket with the right gripper. + subtask_index: 71 +- subtask: Grasp the square chewing gum with the right gripper. + subtask_index: 72 +- subtask: Grasp the shower sphere with the right gripper. + subtask_index: 73 +- subtask: Place the chocolate cake into the basket with the left gripper. + subtask_index: 74 +- subtask: Grasp the bread cut with the left gripper. + subtask_index: 75 +- subtask: Grasp the blackboard erasure with the right gripper. + subtask_index: 76 +- subtask: Place the round bread into the basket with the right gripper. + subtask_index: 77 +- subtask: Grasp the round bread with the left gripper. + subtask_index: 78 +- subtask: Grasp the square wooden block with the left gripper. + subtask_index: 79 +- subtask: Place the brown towel into the basket with the left gripper. + subtask_index: 80 +- subtask: Grasp the blue cup with the right gripper. + subtask_index: 81 +- subtask: Grasp the square wooden block with the right gripper. + subtask_index: 82 +- subtask: Place the square wooden block into the basket with the left gripper. + subtask_index: 83 +- subtask: Place the tin into the basket with the right gripper. + subtask_index: 84 +- subtask: Grasp the round wooden block with the right gripper. + subtask_index: 85 +- subtask: Grasp the banana with the right gripper. + subtask_index: 86 +- subtask: null. + subtask_index: 87 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 102 + total_frames: 18209 + fps: 30 + total_tasks: 88 + total_videos: 408 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 899.78 MB +frame_num: 18209 +frame_range: 100K +dataset_size: 899.78 MB +data_structure: 'Galaxea_R1_Lite_storage_object_brown_basket_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (90 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:101 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_brown_bowl.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_brown_bowl.yaml new file mode 100644 index 0000000000000000000000000000000000000000..015a50f83fa44592fad411539cfc7718f83a387d --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_storage_object_brown_bowl.yaml @@ -0,0 +1,662 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_storage_object_brown_bowl +dataset_uuid: 8a2f2ed0-5ef1-4725-bda8-d71495a48d5f +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: brown_bowl +- object_name: banana +- object_name: bathing_in_flowers +- object_name: blue_cup +- object_name: blue_pot +- object_name: toast_slices +- object_name: brown_towel +- object_name: can +- object_name: coke(slim_can) +- object_name: potato_chips +- object_name: chocolate +- object_name: compass +- object_name: block_pillar +- object_name: egg_beater +- object_name: eraser +- object_name: chewing_gum +- object_name: mentholatum_facial_cleanser +- object_name: green_lemon +- object_name: peach +- object_name: power_strip +- object_name: round_bread +- object_name: mentholatum_facial_cleanser +- object_name: square_building_blocks +- object_name: tape +- object_name: cake +- object_name: duck +- object_name: ambrosial_yogurt +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the target object with the gripper and place it on the brown bowl. +sub_tasks: +- subtask: Grasp the blue pot with the left gripper. + subtask_index: 0 +- subtask: Place the coke into the bowl with the left gripper. + subtask_index: 1 +- subtask: Grasp the plugboard with the left gripper. + subtask_index: 2 +- subtask: Place the back scratcher into the bowl with the right gripper. + subtask_index: 3 +- subtask: Place the plugboard into the bowl with the right gripper. + subtask_index: 4 +- subtask: Place the compasses into the bowl with the right gripper. + subtask_index: 5 +- subtask: Grasp the potato chips with the right gripper. + subtask_index: 6 +- subtask: Grasp the banana with the left gripper. + subtask_index: 7 +- subtask: Place the square chewing gum into the bowl with the right gripper. + subtask_index: 8 +- subtask: Place the round wooden block into the bowl with the right gripper. + subtask_index: 9 +- subtask: Place the tin into the bowl with the left gripper. + subtask_index: 10 +- subtask: Grasp the compasses with the right gripper. + subtask_index: 11 +- subtask: Grasp the duck toy with the left gripper. + subtask_index: 12 +- subtask: Place the potato chips into the bowl with the left gripper. + subtask_index: 13 +- subtask: Grasp the blue cup with the left gripper. + subtask_index: 14 +- subtask: Place the chocolate cake into the bowl with the right gripper. + subtask_index: 15 +- subtask: Grasp the back scratcher with the right gripper. + subtask_index: 16 +- subtask: Place the square wooden block into the bowl with the right gripper. + subtask_index: 17 +- subtask: Grasp the chocolate cake with the right gripper. + subtask_index: 18 +- subtask: Grasp the shower sphere with the left gripper. + subtask_index: 19 +- subtask: Grasp the plugboard with the right gripper. + subtask_index: 20 +- subtask: Grasp the yogurt with the right gripper. + subtask_index: 21 +- subtask: Grasp the tin with the left gripper. + subtask_index: 22 +- subtask: Grasp the brown towel with the left gripper. + subtask_index: 23 +- subtask: Place the square wooden block into the bowl with the left gripper. + subtask_index: 24 +- subtask: Grasp the hard facial cleanser with the left gripper. + subtask_index: 25 +- subtask: Grasp the brown towel with the right gripper. + subtask_index: 26 +- subtask: Place the potato chips into the bowl with the right gripper. + subtask_index: 27 +- subtask: Place the duck toy into the bowl with the left gripper. + subtask_index: 28 +- subtask: Grasp the hard facial cleanser with the right gripper. + subtask_index: 29 +- subtask: Place the green lemon into the bowl with the right gripper. + subtask_index: 30 +- subtask: Grasp the peach with the left gripper. + subtask_index: 31 +- subtask: Place the peach into the bowl with the left gripper. + subtask_index: 32 +- subtask: Place the soft facial cleanser into the bowl with the right gripper. + subtask_index: 33 +- subtask: Place the shower sphere into the bowl with the left gripper. + subtask_index: 34 +- subtask: Place the banana into the bowl with the right gripper. + subtask_index: 35 +- subtask: Place the shower sphere into the bowl with the right gripper. + subtask_index: 36 +- subtask: Grasp the green lemon with the right gripper. + subtask_index: 37 +- subtask: Place the brown towel into the bowl with the right gripper. + subtask_index: 38 +- subtask: Place the blackboard erasure into the bowl with the left gripper. + subtask_index: 39 +- subtask: Grasp the potato chips with the left gripper. + subtask_index: 40 +- subtask: Grasp the duck toy with the right gripper. + subtask_index: 41 +- subtask: End. + subtask_index: 42 +- subtask: Place the blue cup into the bowl with the right gripper. + subtask_index: 43 +- subtask: Grasp the blackboard erasure with the left gripper. + subtask_index: 44 +- subtask: Grasp the coke with the left gripper. + subtask_index: 45 +- subtask: Grasp the round wooden block with the left gripper. + subtask_index: 46 +- subtask: Place the round wooden block into the bowl with the left gripper. + subtask_index: 47 +- subtask: Place the banana into the bowl with the left gripper. + subtask_index: 48 +- subtask: Place the chocolate cake into the bowl with the left gripper. + subtask_index: 49 +- subtask: Place the tape into the bowl with the right gripper. + subtask_index: 50 +- subtask: Grasp the compasses with the left gripper. + subtask_index: 51 +- subtask: Place the chocolate into the bowl with the left gripper. + subtask_index: 52 +- subtask: Grasp the blue pot with the right gripper. + subtask_index: 53 +- subtask: Place the hard facial cleanser into the bowl with the left gripper. + subtask_index: 54 +- subtask: Grasp the round bread with the right gripper. + subtask_index: 55 +- subtask: Grasp the chocolate cake with the left gripper. + subtask_index: 56 +- subtask: Place the hard facial cleanser into the bowl with the right gripper. + subtask_index: 57 +- subtask: Place the round bread into the bowl with the right gripper. + subtask_index: 58 +- subtask: Grasp the tape with the right gripper. + subtask_index: 59 +- subtask: Place the tape into the bowl with the left gripper. + subtask_index: 60 +- subtask: Grasp the coke with the right gripper. + subtask_index: 61 +- subtask: Grasp the tape with the left gripper. + subtask_index: 62 +- subtask: Place the duck toy into the bowl with the right gripper. + subtask_index: 63 +- subtask: Grasp the square chewing gum with the right gripper. + subtask_index: 64 +- subtask: Place the blue pot into the bowl with the left gripper. + subtask_index: 65 +- subtask: Grasp the shower sphere with the right gripper. + subtask_index: 66 +- subtask: Place the plugboard into the bowl with the left gripper. + subtask_index: 67 +- subtask: Place the coke into the bowl with the right gripper. + subtask_index: 68 +- subtask: Place the round bread into the bowl with the left gripper. + subtask_index: 69 +- subtask: Place the blue cup into the bowl with the left gripper. + subtask_index: 70 +- subtask: Place the blue pot into the bowl with the right gripper. + subtask_index: 71 +- subtask: Grasp the round bread with the left gripper. + subtask_index: 72 +- subtask: Grasp the chocolate with the left gripper. + subtask_index: 73 +- subtask: Grasp the square wooden block with the left gripper. + subtask_index: 74 +- subtask: Place the yogurt into the bowl with the right gripper. + subtask_index: 75 +- subtask: Grasp the blue cup with the right gripper. + subtask_index: 76 +- subtask: Grasp the soft facial cleanser with the right gripper. + subtask_index: 77 +- subtask: Place the compasses into the bowl with the left gripper. + subtask_index: 78 +- subtask: Grasp the square wooden block with the right gripper. + subtask_index: 79 +- subtask: Place the brown towel into the bowl with the left gripper. + subtask_index: 80 +- subtask: Grasp the round wooden block with the right gripper. + subtask_index: 81 +- subtask: Grasp the banana with the right gripper. + subtask_index: 82 +- subtask: null. + subtask_index: 83 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 101 + total_frames: 23706 + fps: 30 + total_tasks: 84 + total_videos: 404 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 909.33 MB +frame_num: 23706 +frame_range: 100K +dataset_size: 909.33 MB +data_structure: 'Galaxea_R1_Lite_storage_object_brown_bowl_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (89 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:100 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_brown_plate.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_brown_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..941dd535cb57c9e551c04ba6128dc1cc9036e566 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_storage_object_brown_plate.yaml @@ -0,0 +1,674 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_storage_object_brown_plate +dataset_uuid: e9d43106-de11-4771-a2e1-4167d47648c7 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: brown_plate +- object_name: banana +- object_name: bathing_in_flowers +- object_name: blue_cup +- object_name: blue_pot +- object_name: toast_slices +- object_name: brown_towel +- object_name: can +- object_name: coke(slim_can) +- object_name: potato_chips +- object_name: chocolate +- object_name: compass +- object_name: block_pillar +- object_name: egg_beater +- object_name: erasers +- object_name: chewing_gum +- object_name: mentholatum_facial_cleanser +- object_name: green_lemon +- object_name: peach +- object_name: power_strip +- object_name: round_bread +- object_name: mentholatum_facial_cleanser +- object_name: square_building_blocks +- object_name: tape +- object_name: cake +- object_name: duck +- object_name: ambrosial_yogurt +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the target object with the gripper and place it on the brown plate. +sub_tasks: +- subtask: Place the blue pot on the brown plate with the right gripper. + subtask_index: 0 +- subtask: Grasp the blue pot with the left gripper. + subtask_index: 1 +- subtask: Grasp the plugboard with the left gripper. + subtask_index: 2 +- subtask: Place the soft facial cleanser on the brown plate with the right gripper. + subtask_index: 3 +- subtask: Place the back scratcher on the brown plate with the right gripper. + subtask_index: 4 +- subtask: Place the blackboard erasure on the brown plate with the left gripper. + subtask_index: 5 +- subtask: Grasp the potato chips with the right gripper. + subtask_index: 6 +- subtask: Grasp the banana with the left gripper. + subtask_index: 7 +- subtask: Place the coke on the brown plate with the right gripper. + subtask_index: 8 +- subtask: Place the chocolate on the brown plate with the left gripper. + subtask_index: 9 +- subtask: Place the duck toy on the brown plate with the right gripper. + subtask_index: 10 +- subtask: Grasp the compasses with the right gripper. + subtask_index: 11 +- subtask: Place the peach on the brown plate with the left gripper. + subtask_index: 12 +- subtask: Grasp the duck toy with the left gripper. + subtask_index: 13 +- subtask: Place the round wooden block on the brown plate with the right gripper. + subtask_index: 14 +- subtask: Grasp the blue cup with the left gripper. + subtask_index: 15 +- subtask: Place the green lemon on the brown plate with the left gripper. + subtask_index: 16 +- subtask: Place the shower sphere on the brown plate with the left gripper. + subtask_index: 17 +- subtask: Place the shower sphere on the brown plate with the right gripper. + subtask_index: 18 +- subtask: Grasp the back scratcher with the right gripper. + subtask_index: 19 +- subtask: Grasp the square chewing gum with the left gripper. + subtask_index: 20 +- subtask: Grasp the chocolate cake with the right gripper. + subtask_index: 21 +- subtask: Place the yogurt on the brown plate with the right gripper. + subtask_index: 22 +- subtask: Place the banana on the brown plate with the left gripper. + subtask_index: 23 +- subtask: Grasp the shower sphere with the left gripper. + subtask_index: 24 +- subtask: Place the brown towel on the brown plate with the left gripper. + subtask_index: 25 +- subtask: Grasp the plugboard with the right gripper. + subtask_index: 26 +- subtask: Grasp the yogurt with the right gripper. + subtask_index: 27 +- subtask: Place the blue cup on the brown plate with the right gripper. + subtask_index: 28 +- subtask: Place the plugboard on the brown plate with the right gripper. + subtask_index: 29 +- subtask: Grasp the brown towel with the left gripper. + subtask_index: 30 +- subtask: Grasp the hard facial cleanser with the left gripper. + subtask_index: 31 +- subtask: Place the duck toy on the brown plate with the left gripper. + subtask_index: 32 +- subtask: Place the round bread on the brown plate with the right gripper. + subtask_index: 33 +- subtask: Grasp the brown towel with the right gripper. + subtask_index: 34 +- subtask: Place the bread cut on the brown plate with the left gripper. + subtask_index: 35 +- subtask: Grasp the hard facial cleanser with the right gripper. + subtask_index: 36 +- subtask: Place the chocolate cake on the brown plate with the right gripper. + subtask_index: 37 +- subtask: Grasp the peach with the left gripper. + subtask_index: 38 +- subtask: Place the tin on the brown plate with the right gripper. + subtask_index: 39 +- subtask: Place the tape on the brown plate with the right gripper. + subtask_index: 40 +- subtask: Place the blackboard erasure on the brown plate with the right gripper. + subtask_index: 41 +- subtask: Grasp the bread cut with the right gripper. + subtask_index: 42 +- subtask: Place the potato chips on the brown plate with the right gripper. + subtask_index: 43 +- subtask: Grasp the potato chips with the left gripper. + subtask_index: 44 +- subtask: Place the tape on the brown plate with the left gripper. + subtask_index: 45 +- subtask: Grasp the duck toy with the right gripper. + subtask_index: 46 +- subtask: End. + subtask_index: 47 +- subtask: Grasp the blackboard erasure with the left gripper. + subtask_index: 48 +- subtask: Grasp the round wooden block with the left gripper. + subtask_index: 49 +- subtask: Place the brown towel on the brown plate with the right gripper. + subtask_index: 50 +- subtask: Place the blue cup on the brown plate with the left gripper. + subtask_index: 51 +- subtask: Place the compasses on the brown plate with the right gripper. + subtask_index: 52 +- subtask: Grasp the compasses with the left gripper. + subtask_index: 53 +- subtask: Place the compasses on the brown plate with the left gripper. + subtask_index: 54 +- subtask: Grasp the blue pot with the right gripper. + subtask_index: 55 +- subtask: Grasp the round bread with the right gripper. + subtask_index: 56 +- subtask: Grasp the chocolate cake with the left gripper. + subtask_index: 57 +- subtask: Place the potato chips on the brown plate with the left gripper. + subtask_index: 58 +- subtask: Place the plugboard on the brown plate with the left gripper. + subtask_index: 59 +- subtask: Place the square chewing gum on the brown plate with the right gripper. + subtask_index: 60 +- subtask: Place the banana on the brown plate with the right gripper. + subtask_index: 61 +- subtask: Grasp the tin with the right gripper. + subtask_index: 62 +- subtask: Place the hard facial cleanser on the brown plate with the left gripper. + subtask_index: 63 +- subtask: Place the square wooden block on the brown plate with the left gripper. + subtask_index: 64 +- subtask: Place the square chewing gum on the brown plate with the left gripper. + subtask_index: 65 +- subtask: Grasp the tape with the right gripper. + subtask_index: 66 +- subtask: Grasp the coke with the right gripper. + subtask_index: 67 +- subtask: Grasp the tape with the left gripper. + subtask_index: 68 +- subtask: Grasp the square chewing gum with the right gripper. + subtask_index: 69 +- subtask: Grasp the shower sphere with the right gripper. + subtask_index: 70 +- subtask: Place the square wooden block on the brown plate with the right gripper. + subtask_index: 71 +- subtask: Place the hard facial cleanser on the brown plate with the right gripper. + subtask_index: 72 +- subtask: Grasp the bread cut with the left gripper. + subtask_index: 73 +- subtask: Grasp the blackboard erasure with the right gripper. + subtask_index: 74 +- subtask: Place the bread cut on the brown plate with the right gripper. + subtask_index: 75 +- subtask: Grasp the round bread with the left gripper. + subtask_index: 76 +- subtask: Grasp the chocolate with the left gripper. + subtask_index: 77 +- subtask: Grasp the square wooden block with the left gripper. + subtask_index: 78 +- subtask: Grasp the blue cup with the right gripper. + subtask_index: 79 +- subtask: Grasp the soft facial cleanser with the right gripper. + subtask_index: 80 +- subtask: Place the chocolate cake on the brown plate with the left gripper. + subtask_index: 81 +- subtask: Grasp the square wooden block with the right gripper. + subtask_index: 82 +- subtask: Grasp the green lemon with the left gripper. + subtask_index: 83 +- subtask: Place the round wooden block on the brown plate with the left gripper. + subtask_index: 84 +- subtask: Place the round bread on the brown plate with the left gripper. + subtask_index: 85 +- subtask: Place the blue pot on the brown plate with the left gripper. + subtask_index: 86 +- subtask: Grasp the round wooden block with the right gripper. + subtask_index: 87 +- subtask: Grasp the banana with the right gripper. + subtask_index: 88 +- subtask: null. + subtask_index: 89 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 102 + total_frames: 16390 + fps: 30 + total_tasks: 90 + total_videos: 408 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 615.39 MB +frame_num: 16390 +frame_range: 100K +dataset_size: 615.39 MB +data_structure: 'Galaxea_R1_Lite_storage_object_brown_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (90 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:101 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_dish.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_dish.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d3cdb07ece23ced6e53eabe5b0eb1513afa41060 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_storage_object_dish.yaml @@ -0,0 +1,674 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_storage_object_dish +dataset_uuid: 14ea0b2e-f60a-4304-b9dc-a8fe6d6b0e2d +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: dish +- object_name: banana +- object_name: bathing_in_flowers +- object_name: blue_cup +- object_name: blue_pot +- object_name: toast_slices +- object_name: brown_towel +- object_name: can +- object_name: coke +- object_name: potato_chips +- object_name: chocolate +- object_name: compass +- object_name: block_pillar +- object_name: egg_beater +- object_name: eraser +- object_name: chewing_gum +- object_name: mentholatum_facial_cleanser +- object_name: green_lemon +- object_name: peach +- object_name: power_strip +- object_name: round_bread +- object_name: mentholatum_facial_cleanser +- object_name: square_building_blocks +- object_name: tape +- object_name: cake +- object_name: duck +- object_name: ambrosial_yogurt +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the target object with the gripper and place it on the dish. +sub_tasks: +- subtask: Grasp the blue pot with the left gripper. + subtask_index: 0 +- subtask: Place the back scratcher on the dish with the right gripper. + subtask_index: 1 +- subtask: Grasp the plugboard with the left gripper. + subtask_index: 2 +- subtask: Place the soft facial cleanser on the dish with the right gripper. + subtask_index: 3 +- subtask: Grasp the potato chips with the right gripper. + subtask_index: 4 +- subtask: Grasp the banana with the left gripper. + subtask_index: 5 +- subtask: Grasp the compasses with the right gripper. + subtask_index: 6 +- subtask: Grasp the duck toy with the left gripper. + subtask_index: 7 +- subtask: Place the round bread on the dish with the left gripper. + subtask_index: 8 +- subtask: Grasp the blue cup with the left gripper. + subtask_index: 9 +- subtask: Place the compasses on the dish with the right gripper. + subtask_index: 10 +- subtask: Place the duck toy on the dish with the right gripper. + subtask_index: 11 +- subtask: Place the round wooden block on the dish with the right gripper. + subtask_index: 12 +- subtask: Place the green lemon on the dish with the right gripper. + subtask_index: 13 +- subtask: Grasp the back scratcher with the right gripper. + subtask_index: 14 +- subtask: Grasp the square chewing gum with the left gripper. + subtask_index: 15 +- subtask: Grasp the chocolate cake with the right gripper. + subtask_index: 16 +- subtask: Grasp the shower sphere with the left gripper. + subtask_index: 17 +- subtask: Place the peach on the dish with the left gripper. + subtask_index: 18 +- subtask: Grasp the plugboard with the right gripper. + subtask_index: 19 +- subtask: Grasp the tin with the left gripper. + subtask_index: 20 +- subtask: Grasp the brown towel with the left gripper. + subtask_index: 21 +- subtask: Place the brown towel on the dish with the right gripper. + subtask_index: 22 +- subtask: Grasp the hard facial cleanser with the left gripper. + subtask_index: 23 +- subtask: Place the plugboard on the dish with the right gripper. + subtask_index: 24 +- subtask: Grasp the peach with the right gripper. + subtask_index: 25 +- subtask: Grasp the brown towel with the right gripper. + subtask_index: 26 +- subtask: Place the coke on the dish with the right gripper. + subtask_index: 27 +- subtask: Place the banana on the dish with the left gripper. + subtask_index: 28 +- subtask: Place the peach on the dish with the right gripper. + subtask_index: 29 +- subtask: Grasp the hard facial cleanser with the right gripper. + subtask_index: 30 +- subtask: Place the potato chips on the dish with the right gripper. + subtask_index: 31 +- subtask: Grasp the peach with the left gripper. + subtask_index: 32 +- subtask: Grasp the green lemon with the right gripper. + subtask_index: 33 +- subtask: Place the chocolate cake on the dish with the right gripper. + subtask_index: 34 +- subtask: Place the plugboard on the dish with the left gripper. + subtask_index: 35 +- subtask: Grasp the bread cut with the right gripper. + subtask_index: 36 +- subtask: Place the square chewing gum on the dish with the right gripper. + subtask_index: 37 +- subtask: Grasp the duck toy with the right gripper. + subtask_index: 38 +- subtask: End. + subtask_index: 39 +- subtask: Place the blackboard erasure on the dish with the left gripper. + subtask_index: 40 +- subtask: Grasp the blackboard erasure with the left gripper. + subtask_index: 41 +- subtask: Grasp the coke with the left gripper. + subtask_index: 42 +- subtask: Place the tape on the dish with the right gripper. + subtask_index: 43 +- subtask: Place the bread cut on the dish with the right gripper. + subtask_index: 44 +- subtask: Place the shower sphere on the dish with the right gripper. + subtask_index: 45 +- subtask: Grasp the round wooden block with the left gripper. + subtask_index: 46 +- subtask: Grasp the compasses with the left gripper. + subtask_index: 47 +- subtask: Place the banana on the dish with the right gripper. + subtask_index: 48 +- subtask: Grasp the blue pot with the right gripper. + subtask_index: 49 +- subtask: Grasp the round bread with the right gripper. + subtask_index: 50 +- subtask: Grasp the chocolate cake with the left gripper. + subtask_index: 51 +- subtask: Place the square chewing gum on the dish with the left gripper. + subtask_index: 52 +- subtask: Place the blue cup on the dish with the right gripper. + subtask_index: 53 +- subtask: Place the hard facial cleanser on the dish with the right gripper. + subtask_index: 54 +- subtask: Place the blue cup on the dish with the left gripper. + subtask_index: 55 +- subtask: Grasp the tape with the right gripper. + subtask_index: 56 +- subtask: Place the duck toy on the dish with the left gripper. + subtask_index: 57 +- subtask: Grasp the coke with the right gripper. + subtask_index: 58 +- subtask: Place the square wooden block on the dish with the right gripper. + subtask_index: 59 +- subtask: Grasp the square chewing gum with the right gripper. + subtask_index: 60 +- subtask: Place the round bread on the dish with the right gripper. + subtask_index: 61 +- subtask: Grasp the shower sphere with the right gripper. + subtask_index: 62 +- subtask: Place the brown towel on the dish with the left gripper. + subtask_index: 63 +- subtask: Place the bread cut on the dish with the left gripper. + subtask_index: 64 +- subtask: Grasp the bread cut with the left gripper. + subtask_index: 65 +- subtask: Grasp the yogurt with the left gripper. + subtask_index: 66 +- subtask: Place the blue pot on the dish with the left gripper. + subtask_index: 67 +- subtask: Grasp the blackboard erasure with the right gripper. + subtask_index: 68 +- subtask: Place the coke on the dish with the left gripper. + subtask_index: 69 +- subtask: Place the square wooden block on the dish with the left gripper. + subtask_index: 70 +- subtask: Place the yogurt on the dish with the left gripper. + subtask_index: 71 +- subtask: Place the chocolate cake on the dish with the left gripper. + subtask_index: 72 +- subtask: Place the compasses on the dish with the left gripper. + subtask_index: 73 +- subtask: Place the round wooden block on the dish with the left gripper. + subtask_index: 74 +- subtask: Place the chocolate on the dish with the left gripper. + subtask_index: 75 +- subtask: Grasp the round bread with the left gripper. + subtask_index: 76 +- subtask: Grasp the chocolate with the left gripper. + subtask_index: 77 +- subtask: Grasp the square wooden block with the left gripper. + subtask_index: 78 +- subtask: Grasp the blue cup with the right gripper. + subtask_index: 79 +- subtask: Grasp the soft facial cleanser with the right gripper. + subtask_index: 80 +- subtask: Place the shower sphere on the dish with the left gripper. + subtask_index: 81 +- subtask: Place the tin on the dish with the left gripper. + subtask_index: 82 +- subtask: Grasp the square wooden block with the right gripper. + subtask_index: 83 +- subtask: Place the hard facial cleanser on the dish with the left gripper. + subtask_index: 84 +- subtask: Place the blackboard erasure on the dish with the right gripper. + subtask_index: 85 +- subtask: Place the blue pot on the dish with the right gripper. + subtask_index: 86 +- subtask: Grasp the round wooden block with the right gripper. + subtask_index: 87 +- subtask: Grasp the banana with the right gripper. + subtask_index: 88 +- subtask: null. + subtask_index: 89 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 101 + total_frames: 26346 + fps: 30 + total_tasks: 90 + total_videos: 404 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 993.15 MB +frame_num: 26346 +frame_range: 100K +dataset_size: 993.15 MB +data_structure: 'Galaxea_R1_Lite_storage_object_dish_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (89 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:100 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_gray_plate.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_gray_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..72fff8cd73db9044edbc3ea93fddd1e83cb16494 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_storage_object_gray_plate.yaml @@ -0,0 +1,678 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_storage_object_gray_plate +dataset_uuid: 07eb8a6f-8c8a-4e2f-880b-1c1772f6fe13 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: gray_plate +- object_name: banana +- object_name: bathing_in_flowers +- object_name: blue_cup +- object_name: blue_pot +- object_name: toast_slices +- object_name: brown_towel +- object_name: can +- object_name: coke +- object_name: potato_chips +- object_name: chocolate +- object_name: compass +- object_name: block_pillar +- object_name: egg_beater +- object_name: eraser +- object_name: chewing_gum +- object_name: mentholatum_facial_cleanser +- object_name: green_lemon +- object_name: peach +- object_name: power_strip +- object_name: round_bread +- object_name: mentholatum_facial_cleanser +- object_name: square_building_blocks +- object_name: tape +- object_name: cake +- object_name: duck +- object_name: ambrosial_yogurt +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the target object with the gripper and place it on the gray plate. +sub_tasks: +- subtask: Place the tape on the gray plate with the left gripper. + subtask_index: 0 +- subtask: Grasp the blue pot with the left gripper. + subtask_index: 1 +- subtask: Grasp the plugboard with the left gripper. + subtask_index: 2 +- subtask: Grasp the potato chips with the right gripper. + subtask_index: 3 +- subtask: Grasp the banana with the left gripper. + subtask_index: 4 +- subtask: Place the round wooden block on the gray plate with the left gripper. + subtask_index: 5 +- subtask: Place the peach on the gray plate with the left gripper. + subtask_index: 6 +- subtask: Grasp the compasses with the right gripper. + subtask_index: 7 +- subtask: Place the square chewing gum on the gray plate with the right gripper. + subtask_index: 8 +- subtask: Place the compasses on the gray plate with the right gripper. + subtask_index: 9 +- subtask: Place the potato chips on the gray plate with the right gripper. + subtask_index: 10 +- subtask: Grasp the duck toy with the left gripper. + subtask_index: 11 +- subtask: Place the green lemon on the gray plate with the right gripper. + subtask_index: 12 +- subtask: Grasp the blue cup with the left gripper. + subtask_index: 13 +- subtask: Place the square wooden block on the gray plate with the left gripper. + subtask_index: 14 +- subtask: Grasp the soft facial cleanser with the left gripper. + subtask_index: 15 +- subtask: Place the blue cup on the gray plate with the left gripper. + subtask_index: 16 +- subtask: Grasp the square chewing gum with the left gripper. + subtask_index: 17 +- subtask: Grasp the chocolate cake with the right gripper. + subtask_index: 18 +- subtask: Grasp the shower sphere with the left gripper. + subtask_index: 19 +- subtask: Place the blackboard erasure on the gray plate with the right gripper. + subtask_index: 20 +- subtask: Grasp the plugboard with the right gripper. + subtask_index: 21 +- subtask: Grasp the yogurt with the right gripper. + subtask_index: 22 +- subtask: Grasp the brown towel with the left gripper. + subtask_index: 23 +- subtask: Place the round bread on the gray plate with the right gripper. + subtask_index: 24 +- subtask: Grasp the hard facial cleanser with the left gripper. + subtask_index: 25 +- subtask: Place the shower sphere on the gray plate with the left gripper. + subtask_index: 26 +- subtask: Grasp the chocolate with the right gripper. + subtask_index: 27 +- subtask: Place the soft facial cleanser on the gray plate with the left gripper. + subtask_index: 28 +- subtask: Grasp the peach with the right gripper. + subtask_index: 29 +- subtask: Grasp the brown towel with the right gripper. + subtask_index: 30 +- subtask: Place the shower sphere on the gray plate with the right gripper. + subtask_index: 31 +- subtask: Grasp the back scratcher with the left gripper. + subtask_index: 32 +- subtask: Place the square wooden block on the gray plate with the right gripper. + subtask_index: 33 +- subtask: Place the blackboard erasure on the gray plate with the left gripper. + subtask_index: 34 +- subtask: Place the yogurt on the gray plate with the right gripper. + subtask_index: 35 +- subtask: Grasp the peach with the left gripper. + subtask_index: 36 +- subtask: Place the coke on the gray plate with the left gripper. + subtask_index: 37 +- subtask: Place the chocolate cake on the gray plate with the right gripper. + subtask_index: 38 +- subtask: Place the banana on the gray plate with the left gripper. + subtask_index: 39 +- subtask: Grasp the green lemon with the right gripper. + subtask_index: 40 +- subtask: Grasp the bread cut with the right gripper. + subtask_index: 41 +- subtask: Place the bread cut on the gray plate with the right gripper. + subtask_index: 42 +- subtask: Place the brown towel on the gray plate with the right gripper. + subtask_index: 43 +- subtask: Grasp the potato chips with the left gripper. + subtask_index: 44 +- subtask: Grasp the duck toy with the right gripper. + subtask_index: 45 +- subtask: End. + subtask_index: 46 +- subtask: Grasp the blackboard erasure with the left gripper. + subtask_index: 47 +- subtask: Grasp the coke with the left gripper. + subtask_index: 48 +- subtask: Place the plugboard on the gray plate with the right gripper. + subtask_index: 49 +- subtask: Place the round bread on the gray plate with the left gripper. + subtask_index: 50 +- subtask: Grasp the round wooden block with the left gripper. + subtask_index: 51 +- subtask: Grasp the compasses with the left gripper. + subtask_index: 52 +- subtask: Place the round wooden block on the gray plate with the right gripper. + subtask_index: 53 +- subtask: Place the blue pot on the gray plate with the left gripper. + subtask_index: 54 +- subtask: Grasp the blue pot with the right gripper. + subtask_index: 55 +- subtask: Grasp the round bread with the right gripper. + subtask_index: 56 +- subtask: Grasp the chocolate cake with the left gripper. + subtask_index: 57 +- subtask: Place the brown towel on the gray plate with the left gripper. + subtask_index: 58 +- subtask: Place the blue pot on the gray plate with the right gripper. + subtask_index: 59 +- subtask: Place the compasses on the gray plate with the left gripper. + subtask_index: 60 +- subtask: Place the coke on the gray plate with the right gripper. + subtask_index: 61 +- subtask: Grasp the tin with the right gripper. + subtask_index: 62 +- subtask: Place the square chewing gum on the gray plate with the left gripper. + subtask_index: 63 +- subtask: Place the back scratcher on the gray plate with the left gripper. + subtask_index: 64 +- subtask: Grasp the tape with the right gripper. + subtask_index: 65 +- subtask: Place the tin on the gray plate with the right gripper. + subtask_index: 66 +- subtask: Grasp the coke with the right gripper. + subtask_index: 67 +- subtask: Grasp the tape with the left gripper. + subtask_index: 68 +- subtask: Grasp the square chewing gum with the right gripper. + subtask_index: 69 +- subtask: Place the tape on the gray plate with the right gripper. + subtask_index: 70 +- subtask: Place the hard facial cleanser on the gray plate with the left gripper. + subtask_index: 71 +- subtask: Grasp the shower sphere with the right gripper. + subtask_index: 72 +- subtask: Place the duck toy on the gray plate with the right gripper. + subtask_index: 73 +- subtask: Grasp the bread cut with the left gripper. + subtask_index: 74 +- subtask: Place the chocolate on the gray plate with the right gripper. + subtask_index: 75 +- subtask: Grasp the blackboard erasure with the right gripper. + subtask_index: 76 +- subtask: Place the banana on the gray plate with the right gripper. + subtask_index: 77 +- subtask: Place the peach on the gray plate with the right gripper. + subtask_index: 78 +- subtask: Grasp the round bread with the left gripper. + subtask_index: 79 +- subtask: Grasp the square wooden block with the left gripper. + subtask_index: 80 +- subtask: Grasp the blue cup with the right gripper. + subtask_index: 81 +- subtask: Place the chocolate cake on the gray plate with the left gripper. + subtask_index: 82 +- subtask: Place the duck toy on the gray plate with the left gripper. + subtask_index: 83 +- subtask: Grasp the square wooden block with the right gripper. + subtask_index: 84 +- subtask: Place the plugboard on the gray plate with the left gripper. + subtask_index: 85 +- subtask: Place the bread cut on the gray plate with the left gripper. + subtask_index: 86 +- subtask: Grasp the round wooden block with the right gripper. + subtask_index: 87 +- subtask: Place the potato chips on the gray plate with the left gripper. + subtask_index: 88 +- subtask: Grasp the banana with the right gripper. + subtask_index: 89 +- subtask: Place the blue cup on the gray plate with the right gripper. + subtask_index: 90 +- subtask: null. + subtask_index: 91 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 102 + total_frames: 20357 + fps: 30 + total_tasks: 92 + total_videos: 408 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 786.26 MB +frame_num: 20357 +frame_range: 100K +dataset_size: 786.26 MB +data_structure: 'Galaxea_R1_Lite_storage_object_gray_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (90 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:101 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_pink_bowl.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_pink_bowl.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c2b1d071fc71e78d6a36d934861a912ca46b3673 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_storage_object_pink_bowl.yaml @@ -0,0 +1,674 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_storage_object_pink_bowl +dataset_uuid: 42d6100f-4420-44f4-924e-b7a9b9417169 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: pink_bowl +- object_name: banana +- object_name: bathing_in_flowers +- object_name: blue_cup +- object_name: blue_pot +- object_name: toast_slices +- object_name: brown_towel +- object_name: can +- object_name: coke +- object_name: potato_chips +- object_name: chocolate +- object_name: compass +- object_name: block_pillar +- object_name: egg_beater +- object_name: eraser +- object_name: chewing_gum +- object_name: mentholatum_facial_cleanser +- object_name: green_lemon +- object_name: peach +- object_name: power_strip +- object_name: round_bread +- object_name: mentholatum_facial_cleanser +- object_name: square_building_blocks +- object_name: tape +- object_name: cake +- object_name: duck +- object_name: ambrosial_yogurt +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the target object with the gripper and place it on the pink bowl. +sub_tasks: +- subtask: Place the bread cut on the pink bowl with the left gripper. + subtask_index: 0 +- subtask: Place the round wooden block on the pink bowl with the left gripper. + subtask_index: 1 +- subtask: Grasp the blue pot with the left gripper. + subtask_index: 2 +- subtask: Grasp the plugboard with the left gripper. + subtask_index: 3 +- subtask: Place the chocolate on the pink bowl with the right gripper. + subtask_index: 4 +- subtask: Grasp the potato chips with the right gripper. + subtask_index: 5 +- subtask: Place the bread cut on the pink bowl with the right gripper. + subtask_index: 6 +- subtask: Grasp the banana with the left gripper. + subtask_index: 7 +- subtask: Place the round bread on the pink bowl with the right gripper. + subtask_index: 8 +- subtask: Grasp the compasses with the right gripper. + subtask_index: 9 +- subtask: Grasp the duck toy with the left gripper. + subtask_index: 10 +- subtask: Place the banana on the pink bowl with the left gripper. + subtask_index: 11 +- subtask: Place the hard facial cleanser on the pink bowl with the right gripper. + subtask_index: 12 +- subtask: Grasp the blue cup with the left gripper. + subtask_index: 13 +- subtask: Place the brown towel on the pink bowl with the right gripper. + subtask_index: 14 +- subtask: Place the duck toy on the pink bowl with the right gripper. + subtask_index: 15 +- subtask: Place the coke on the pink bowl with the right gripper. + subtask_index: 16 +- subtask: Grasp the square chewing gum with the left gripper. + subtask_index: 17 +- subtask: Grasp the chocolate cake with the right gripper. + subtask_index: 18 +- subtask: Place the banana on the pink bowl with the right gripper. + subtask_index: 19 +- subtask: Grasp the shower sphere with the left gripper. + subtask_index: 20 +- subtask: Grasp the plugboard with the right gripper. + subtask_index: 21 +- subtask: Grasp the yogurt with the right gripper. + subtask_index: 22 +- subtask: Grasp the tin with the left gripper. + subtask_index: 23 +- subtask: Grasp the brown towel with the left gripper. + subtask_index: 24 +- subtask: Place the peach on the pink bowl with the left gripper. + subtask_index: 25 +- subtask: Grasp the chocolate with the right gripper. + subtask_index: 26 +- subtask: Place the tape on the pink bowl with the right gripper. + subtask_index: 27 +- subtask: Grasp the peach with the right gripper. + subtask_index: 28 +- subtask: Grasp the brown towel with the right gripper. + subtask_index: 29 +- subtask: Grasp the back scratcher with the left gripper. + subtask_index: 30 +- subtask: Place the round wooden block on the pink bowl with the right gripper. + subtask_index: 31 +- subtask: Place the tape on the pink bowl with the left gripper. + subtask_index: 32 +- subtask: Place the duck toy on the pink bowl with the left gripper. + subtask_index: 33 +- subtask: Place the shower sphere on the pink bowl with the left gripper. + subtask_index: 34 +- subtask: Place the blue cup on the pink bowl with the left gripper. + subtask_index: 35 +- subtask: Grasp the hard facial cleanser with the right gripper. + subtask_index: 36 +- subtask: Place the blue pot on the pink bowl with the left gripper. + subtask_index: 37 +- subtask: Place the coke on the pink bowl with the left gripper. + subtask_index: 38 +- subtask: Place the blue cup on the pink bowl with the right gripper. + subtask_index: 39 +- subtask: Grasp the peach with the left gripper. + subtask_index: 40 +- subtask: Place the potato chips on the pink bowl with the right gripper. + subtask_index: 41 +- subtask: Place the square chewing gum on the pink bowl with the left gripper. + subtask_index: 42 +- subtask: Place the square wooden block on the pink bowl with the right gripper. + subtask_index: 43 +- subtask: Place the blackboard erasure on the pink bowl with the left gripper. + subtask_index: 44 +- subtask: Grasp the bread cut with the right gripper. + subtask_index: 45 +- subtask: Grasp the potato chips with the left gripper. + subtask_index: 46 +- subtask: Grasp the duck toy with the right gripper. + subtask_index: 47 +- subtask: End. + subtask_index: 48 +- subtask: Place the compasses on the pink bowl with the left gripper. + subtask_index: 49 +- subtask: Place the blue pot on the pink bowl with the right gripper. + subtask_index: 50 +- subtask: Grasp the blackboard erasure with the left gripper. + subtask_index: 51 +- subtask: Grasp the coke with the left gripper. + subtask_index: 52 +- subtask: Place the chocolate cake on the pink bowl with the right gripper. + subtask_index: 53 +- subtask: Grasp the round wooden block with the left gripper. + subtask_index: 54 +- subtask: Place the blackboard erasure on the pink bowl with the right gripper. + subtask_index: 55 +- subtask: Grasp the compasses with the left gripper. + subtask_index: 56 +- subtask: Place the peach on the pink bowl with the right gripper. + subtask_index: 57 +- subtask: Place the soft facial cleanser on the pink bowl with the right gripper. + subtask_index: 58 +- subtask: Grasp the blue pot with the right gripper. + subtask_index: 59 +- subtask: Grasp the round bread with the right gripper. + subtask_index: 60 +- subtask: Place the plugboard on the pink bowl with the left gripper. + subtask_index: 61 +- subtask: Grasp the tin with the right gripper. + subtask_index: 62 +- subtask: Place the square chewing gum on the pink bowl with the right gripper. + subtask_index: 63 +- subtask: Place the compasses on the pink bowl with the right gripper. + subtask_index: 64 +- subtask: Grasp the tape with the right gripper. + subtask_index: 65 +- subtask: Place the shower sphere on the pink bowl with the right gripper. + subtask_index: 66 +- subtask: Grasp the coke with the right gripper. + subtask_index: 67 +- subtask: Grasp the tape with the left gripper. + subtask_index: 68 +- subtask: Place the tin on the pink bowl with the right gripper. + subtask_index: 69 +- subtask: Grasp the square chewing gum with the right gripper. + subtask_index: 70 +- subtask: Grasp the shower sphere with the right gripper. + subtask_index: 71 +- subtask: Grasp the bread cut with the left gripper. + subtask_index: 72 +- subtask: Grasp the blackboard erasure with the right gripper. + subtask_index: 73 +- subtask: Place the brown towel on the pink bowl with the left gripper. + subtask_index: 74 +- subtask: Place the square wooden block on the pink bowl with the left gripper. + subtask_index: 75 +- subtask: Grasp the square wooden block with the left gripper. + subtask_index: 76 +- subtask: Grasp the blue cup with the right gripper. + subtask_index: 77 +- subtask: Place the back scratcher on the pink bowl with the left gripper. + subtask_index: 78 +- subtask: Grasp the soft facial cleanser with the right gripper. + subtask_index: 79 +- subtask: Place the green lemon on the pink bowl with the left gripper. + subtask_index: 80 +- subtask: Grasp the square wooden block with the right gripper. + subtask_index: 81 +- subtask: Grasp the green lemon with the left gripper. + subtask_index: 82 +- subtask: Place the tin on the pink bowl with the left gripper. + subtask_index: 83 +- subtask: Place the yogurt on the pink bowl with the right gripper. + subtask_index: 84 +- subtask: Place the potato chips on the pink bowl with the left gripper. + subtask_index: 85 +- subtask: Grasp the round wooden block with the right gripper. + subtask_index: 86 +- subtask: Grasp the banana with the right gripper. + subtask_index: 87 +- subtask: Place the plugboard on the pink bowl with the right gripper. + subtask_index: 88 +- subtask: null. + subtask_index: 89 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 102 + total_frames: 20095 + fps: 30 + total_tasks: 90 + total_videos: 408 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 752.14 MB +frame_num: 20095 +frame_range: 100K +dataset_size: 752.14 MB +data_structure: 'Galaxea_R1_Lite_storage_object_pink_bowl_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (90 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:101 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_white_box.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_white_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..23244aae3770f368c5fa8f14c8e046924aa67ec3 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_storage_object_white_box.yaml @@ -0,0 +1,678 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_storage_object_white_box +dataset_uuid: 0cbb50ec-bcec-46d9-a14d-6f84c48d6292 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: white_box +- object_name: banana +- object_name: bathing_in_flowers +- object_name: blue_cup +- object_name: blue_pot +- object_name: toast_slices +- object_name: brown_towel +- object_name: can +- object_name: coke +- object_name: potato_chips +- object_name: chocolate +- object_name: compass +- object_name: block_pillar +- object_name: egg_beater +- object_name: eraser +- object_name: chewing_gum +- object_name: mentholatum_facial_cleanser +- object_name: green_lemon +- object_name: peach +- object_name: power_strip +- object_name: round_bread +- object_name: mentholatum_facial_cleanser +- object_name: square_building_blocks +- object_name: tape +- object_name: cake +- object_name: duck +- object_name: ambrosial_yogurt +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the target object with the gripper and place it on the white box. +sub_tasks: +- subtask: Place the tin on the white box with the left gripper. + subtask_index: 0 +- subtask: Grasp the blue pot with the left gripper. + subtask_index: 1 +- subtask: Place the square wooden block on the white box with the right gripper. + subtask_index: 2 +- subtask: Grasp the plugboard with the left gripper. + subtask_index: 3 +- subtask: Place the brown towel on the white box with the left gripper. + subtask_index: 4 +- subtask: Place the peach on the white box with the left gripper. + subtask_index: 5 +- subtask: Grasp the potato chips with the right gripper. + subtask_index: 6 +- subtask: Place the blackboard erasure on the white box with the right gripper. + subtask_index: 7 +- subtask: Grasp the banana with the left gripper. + subtask_index: 8 +- subtask: Place the round bread on the white box with the right gripper. + subtask_index: 9 +- subtask: Grasp the compasses with the right gripper. + subtask_index: 10 +- subtask: Grasp the duck toy with the left gripper. + subtask_index: 11 +- subtask: Place the bread cut on the white box with the right gripper. + subtask_index: 12 +- subtask: Place the blackboard erasure on the white box with the left gripper. + subtask_index: 13 +- subtask: Place the bread cut on the white box with the left gripper. + subtask_index: 14 +- subtask: Place the coke on the white box with the right gripper. + subtask_index: 15 +- subtask: Place the blue cup on the white box with the left gripper. + subtask_index: 16 +- subtask: Grasp the blue cup with the left gripper. + subtask_index: 17 +- subtask: Place the coke on the white box with the left gripper. + subtask_index: 18 +- subtask: Place the square wooden block on the white box with the left gripper. + subtask_index: 19 +- subtask: Place the blue cup on the white box with the right gripper. + subtask_index: 20 +- subtask: Place the duck toy on the white box with the left gripper. + subtask_index: 21 +- subtask: Grasp the back scratcher with the right gripper. + subtask_index: 22 +- subtask: Place the blue pot on the white box with the right gripper. + subtask_index: 23 +- subtask: Grasp the square chewing gum with the left gripper. + subtask_index: 24 +- subtask: Grasp the chocolate cake with the right gripper. + subtask_index: 25 +- subtask: Place the round wooden block on the white box with the right gripper. + subtask_index: 26 +- subtask: Place the square chewing gum on the white box with the right gripper. + subtask_index: 27 +- subtask: Grasp the shower sphere with the left gripper. + subtask_index: 28 +- subtask: Grasp the plugboard with the right gripper. + subtask_index: 29 +- subtask: Grasp the yogurt with the right gripper. + subtask_index: 30 +- subtask: Grasp the tin with the left gripper. + subtask_index: 31 +- subtask: Grasp the brown towel with the left gripper. + subtask_index: 32 +- subtask: Place the back scratcher into the basket with the right gripper. + subtask_index: 33 +- subtask: Grasp the hard facial cleanser with the left gripper. + subtask_index: 34 +- subtask: Grasp the chocolate with the right gripper. + subtask_index: 35 +- subtask: Place the banana on the white box with the right gripper. + subtask_index: 36 +- subtask: Grasp the brown towel with the right gripper. + subtask_index: 37 +- subtask: Place the shower sphere on the white box with the right gripper. + subtask_index: 38 +- subtask: Place the green lemon into the basket with the right gripper. + subtask_index: 39 +- subtask: Place the compasses on the white box with the right gripper. + subtask_index: 40 +- subtask: Place the banana on the white box with the left gripper. + subtask_index: 41 +- subtask: Grasp the peach with the left gripper. + subtask_index: 42 +- subtask: Place the round wooden block on the white box with the left gripper. + subtask_index: 43 +- subtask: Place the tin on the white box with the right gripper. + subtask_index: 44 +- subtask: Place the potato chips on the white box with the right gripper. + subtask_index: 45 +- subtask: Place the tape on the white box with the left gripper. + subtask_index: 46 +- subtask: Grasp the green lemon with the right gripper. + subtask_index: 47 +- subtask: Place the blue pot on the white box with the left gripper. + subtask_index: 48 +- subtask: Grasp the bread cut with the right gripper. + subtask_index: 49 +- subtask: Place the chocolate cake on the white box with the right gripper. + subtask_index: 50 +- subtask: Place the compasses on the white box with the left gripper. + subtask_index: 51 +- subtask: Grasp the potato chips with the left gripper. + subtask_index: 52 +- subtask: Place the soft facial cleanser on the white box with the right gripper. + subtask_index: 53 +- subtask: Grasp the duck toy with the right gripper. + subtask_index: 54 +- subtask: End. + subtask_index: 55 +- subtask: Place the hard facial cleanser on the white box with the left gripper. + subtask_index: 56 +- subtask: Grasp the blackboard erasure with the left gripper. + subtask_index: 57 +- subtask: Grasp the coke with the left gripper. + subtask_index: 58 +- subtask: Grasp the round wooden block with the left gripper. + subtask_index: 59 +- subtask: Place the square chewing gum on the white box with the left gripper. + subtask_index: 60 +- subtask: Place the tape on the white box with the right gripper. + subtask_index: 61 +- subtask: Place the shower sphere on the white box with the left gripper. + subtask_index: 62 +- subtask: Grasp the compasses with the left gripper. + subtask_index: 63 +- subtask: Place the brown towel on the white box with the right gripper. + subtask_index: 64 +- subtask: Grasp the blue pot with the right gripper. + subtask_index: 65 +- subtask: Grasp the round bread with the right gripper. + subtask_index: 66 +- subtask: Grasp the chocolate cake with the left gripper. + subtask_index: 67 +- subtask: Place the duck toy on the white box with the right gripper. + subtask_index: 68 +- subtask: Place the chocolate on the white box with the right gripper. + subtask_index: 69 +- subtask: Grasp the tin with the right gripper. + subtask_index: 70 +- subtask: Place the chocolate cake on the white box with the left gripper. + subtask_index: 71 +- subtask: Place the plugboard on the white box with the right gripper. + subtask_index: 72 +- subtask: Grasp the tape with the right gripper. + subtask_index: 73 +- subtask: Grasp the coke with the right gripper. + subtask_index: 74 +- subtask: Grasp the tape with the left gripper. + subtask_index: 75 +- subtask: Grasp the square chewing gum with the right gripper. + subtask_index: 76 +- subtask: Grasp the shower sphere with the right gripper. + subtask_index: 77 +- subtask: Grasp the bread cut with the left gripper. + subtask_index: 78 +- subtask: Place the potato chips on the white box with the left gripper. + subtask_index: 79 +- subtask: Grasp the blackboard erasure with the right gripper. + subtask_index: 80 +- subtask: Place the round bread on the white box with the left gripper. + subtask_index: 81 +- subtask: Grasp the round bread with the left gripper. + subtask_index: 82 +- subtask: Grasp the square wooden block with the left gripper. + subtask_index: 83 +- subtask: Grasp the blue cup with the right gripper. + subtask_index: 84 +- subtask: Grasp the soft facial cleanser with the right gripper. + subtask_index: 85 +- subtask: Place the yogurt on the white box with the right gripper. + subtask_index: 86 +- subtask: Grasp the square wooden block with the right gripper. + subtask_index: 87 +- subtask: Place the plugboard on the white box with the left gripper. + subtask_index: 88 +- subtask: Grasp the round wooden block with the right gripper. + subtask_index: 89 +- subtask: Grasp the banana with the right gripper. + subtask_index: 90 +- subtask: null. + subtask_index: 91 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 102 + total_frames: 27154 + fps: 30 + total_tasks: 92 + total_videos: 408 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.03 GB +frame_num: 27154 +frame_range: 100K +dataset_size: 1.03 GB +data_structure: 'Galaxea_R1_Lite_storage_object_white_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (90 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:101 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_yellow_basket.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_yellow_basket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7b4e5765052a0aace9d233719742de0490b95c0 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_storage_object_yellow_basket.yaml @@ -0,0 +1,682 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_storage_object_yellow_basket +dataset_uuid: 4e10da4a-f9fe-4976-b1a1-a76f4b84f593 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: yellow_basket +- object_name: banana +- object_name: bathing_in_flowers +- object_name: blue_cup +- object_name: blue_pot +- object_name: toast_slices +- object_name: brown_towel +- object_name: can +- object_name: coke(slim_can) +- object_name: potato_chips +- object_name: chocolate +- object_name: compass +- object_name: building_blocks +- object_name: egg_beater +- object_name: eraser +- object_name: chewing_gum +- object_name: mentholatum_facial_cleanser +- object_name: green_lemon +- object_name: peach +- object_name: power_strip +- object_name: round_bread +- object_name: mentholatum_facial_cleanser +- object_name: square_building_blocks +- object_name: tape +- object_name: cake +- object_name: duck +- object_name: ambrosial_yogurt +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the target object with the gripper and place it on the yellow basket. +sub_tasks: +- subtask: Grasp the blue pot with the left gripper. + subtask_index: 0 +- subtask: Grasp the plugboard with the left gripper. + subtask_index: 1 +- subtask: Place the round wooden block on the yellow basket with the left gripper. + subtask_index: 2 +- subtask: Grasp the potato chips with the right gripper. + subtask_index: 3 +- subtask: Place the tin on the yellow basket with the right gripper. + subtask_index: 4 +- subtask: Place the plugboard on the yellow basket with the left gripper. + subtask_index: 5 +- subtask: Place the peach on the yellow basket with the left gripper. + subtask_index: 6 +- subtask: Place the blue cup on the yellow basket with the right gripper. + subtask_index: 7 +- subtask: Place the brown towel on the yellow basket with the right gripper. + subtask_index: 8 +- subtask: Grasp the compasses with the right gripper. + subtask_index: 9 +- subtask: Place the green lemon on the yellow basket with the right gripper. + subtask_index: 10 +- subtask: Place the duck toy on the yellow basket with the right gripper. + subtask_index: 11 +- subtask: Grasp the duck toy with the left gripper. + subtask_index: 12 +- subtask: Place the blackboard erasure on the yellow basket with the left gripper. + subtask_index: 13 +- subtask: Grasp the blue cup with the left gripper. + subtask_index: 14 +- subtask: Place the bread cut on the yellow basket with the left gripper. + subtask_index: 15 +- subtask: Place the hard facial cleanser on the yellow basket with the right gripper. + subtask_index: 16 +- subtask: Place the peach on the yellow basket with the right gripper. + subtask_index: 17 +- subtask: Grasp the back scratcher with the right gripper. + subtask_index: 18 +- subtask: Place the tape on the yellow basket with the right gripper. + subtask_index: 19 +- subtask: Place the blue pot on the yellow basket with the right gripper. + subtask_index: 20 +- subtask: Grasp the chocolate cake with the right gripper. + subtask_index: 21 +- subtask: Place the tape on the yellow basket with the left gripper. + subtask_index: 22 +- subtask: Place the shower sphere on the yellow basket with the left gripper. + subtask_index: 23 +- subtask: Place the yogurt on the yellow basket with the left gripper. + subtask_index: 24 +- subtask: Grasp the shower sphere with the left gripper. + subtask_index: 25 +- subtask: Grasp the plugboard with the right gripper. + subtask_index: 26 +- subtask: Grasp the tin with the left gripper. + subtask_index: 27 +- subtask: Grasp the brown towel with the left gripper. + subtask_index: 28 +- subtask: Place the compasses on the yellow basket with the right gripper. + subtask_index: 29 +- subtask: Place the hard facial cleanser on the yellow basket with the left gripper. + subtask_index: 30 +- subtask: Grasp the hard facial cleanser with the left gripper. + subtask_index: 31 +- subtask: Place the potato chips on the yellow basket with the left gripper. + subtask_index: 32 +- subtask: Grasp the chocolate with the right gripper. + subtask_index: 33 +- subtask: Place the banana on the yellow basket with the right gripper. + subtask_index: 34 +- subtask: Grasp the peach with the right gripper. + subtask_index: 35 +- subtask: Grasp the brown towel with the right gripper. + subtask_index: 36 +- subtask: Place the chocolate cake on the yellow basket with the left gripper. + subtask_index: 37 +- subtask: Place the shower sphere on the yellow basket with the right gripper. + subtask_index: 38 +- subtask: Grasp the hard facial cleanser with the right gripper. + subtask_index: 39 +- subtask: Place the back scratcher on the yellow basket with the right gripper. + subtask_index: 40 +- subtask: Grasp the peach with the left gripper. + subtask_index: 41 +- subtask: Place the blue cup on the yellow basket with the left gripper. + subtask_index: 42 +- subtask: Grasp the green lemon with the right gripper. + subtask_index: 43 +- subtask: Place the soft facial cleanser on the yellow basket with the right gripper. + subtask_index: 44 +- subtask: Grasp the bread cut with the right gripper. + subtask_index: 45 +- subtask: Grasp the potato chips with the left gripper. + subtask_index: 46 +- subtask: Grasp the duck toy with the right gripper. + subtask_index: 47 +- subtask: End. + subtask_index: 48 +- subtask: Grasp the blackboard erasure with the left gripper. + subtask_index: 49 +- subtask: Grasp the coke with the left gripper. + subtask_index: 50 +- subtask: Place the blackboard erasure on the yellow basket with the right gripper. + subtask_index: 51 +- subtask: Grasp the round wooden block with the left gripper. + subtask_index: 52 +- subtask: Place the tin on the yellow basket with the left gripper. + subtask_index: 53 +- subtask: Place the bread cut on the yellow basket with the right gripper. + subtask_index: 54 +- subtask: Place the compasses on the yellow basket with the left gripper. + subtask_index: 55 +- subtask: Place the square wooden block on the yellow basket with the left gripper. + subtask_index: 56 +- subtask: Place the chocolate cake on the yellow basket with the right gripper. + subtask_index: 57 +- subtask: Grasp the compasses with the left gripper. + subtask_index: 58 +- subtask: Place the peach doll on the yellow basket with the left gripper. + subtask_index: 59 +- subtask: Grasp the blue pot with the right gripper. + subtask_index: 60 +- subtask: Grasp the round bread with the right gripper. + subtask_index: 61 +- subtask: Grasp the chocolate cake with the left gripper. + subtask_index: 62 +- subtask: Place the coke on the yellow basket with the left gripper. + subtask_index: 63 +- subtask: Place the duck toy on the yellow basket with the left gripper. + subtask_index: 64 +- subtask: Grasp the tin with the right gripper. + subtask_index: 65 +- subtask: Place the round wooden block on the yellow basket with the right gripper. + subtask_index: 66 +- subtask: Place the square wooden block on the yellow basket with the right gripper. + subtask_index: 67 +- subtask: Grasp the tape with the right gripper. + subtask_index: 68 +- subtask: Grasp the coke with the right gripper. + subtask_index: 69 +- subtask: Place the round bread on the yellow basket with the right gripper. + subtask_index: 70 +- subtask: Grasp the tape with the left gripper. + subtask_index: 71 +- subtask: Grasp the square chewing gum with the right gripper. + subtask_index: 72 +- subtask: Grasp the peach doll with the left gripper. + subtask_index: 73 +- subtask: Grasp the shower sphere with the right gripper. + subtask_index: 74 +- subtask: Place the brown towel on the yellow basket with the left gripper. + subtask_index: 75 +- subtask: Grasp the bread cut with the left gripper. + subtask_index: 76 +- subtask: Grasp the yogurt with the left gripper. + subtask_index: 77 +- subtask: Grasp the blackboard erasure with the right gripper. + subtask_index: 78 +- subtask: Place the coke on the yellow basket with the right gripper. + subtask_index: 79 +- subtask: Place the chocolate on the yellow basket with the right gripper. + subtask_index: 80 +- subtask: Place the potato chips on the yellow basket with the right gripper. + subtask_index: 81 +- subtask: Place the plugboard on the yellow basket with the right gripper. + subtask_index: 82 +- subtask: Place the blue pot on the yellow basket with the left gripper. + subtask_index: 83 +- subtask: Place the round bread on the yellow basket with the left gripper. + subtask_index: 84 +- subtask: Grasp the round bread with the left gripper. + subtask_index: 85 +- subtask: Grasp the square wooden block with the left gripper. + subtask_index: 86 +- subtask: Grasp the blue cup with the right gripper. + subtask_index: 87 +- subtask: Grasp the soft facial cleanser with the right gripper. + subtask_index: 88 +- subtask: Grasp the square wooden block with the right gripper. + subtask_index: 89 +- subtask: Grasp the round wooden block with the right gripper. + subtask_index: 90 +- subtask: Place the square chewing gum on the yellow basket with the right gripper. + subtask_index: 91 +- subtask: Grasp the banana with the right gripper. + subtask_index: 92 +- subtask: null. + subtask_index: 93 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 102 + total_frames: 18153 + fps: 30 + total_tasks: 94 + total_videos: 408 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 742.42 MB +frame_num: 18153 +frame_range: 100K +dataset_size: 742.42 MB +data_structure: 'Galaxea_R1_Lite_storage_object_yellow_basket_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (90 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:101 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_storage_of_toiletries.yaml b/dataset_info/Galaxea_R1_Lite_storage_of_toiletries.yaml new file mode 100644 index 0000000000000000000000000000000000000000..877b83163df36f1c09a62b9e72caa587e15d759a --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_storage_of_toiletries.yaml @@ -0,0 +1,468 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_storage_of_toiletries +dataset_uuid: 25f2cd96-c284-44a9-b59c-98e204e16347 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: storage_bag +- object_name: toothpaste +- object_name: toothbrush +- object_name: comb +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the comb, toothpaste, and toothbrush into the opened storage bag on the table + with the gripper. +sub_tasks: +- subtask: Place the toothpaste in the storage bag. + subtask_index: 0 +- subtask: Pick up the comb. + subtask_index: 1 +- subtask: Place the comb on the table. + subtask_index: 2 +- subtask: Place the comb into the storage bag. + subtask_index: 3 +- subtask: Pick up the storage bag. + subtask_index: 4 +- subtask: Pick up a toothbrush. + subtask_index: 5 +- subtask: Place the toothpaste on the table. + subtask_index: 6 +- subtask: abnormal. + subtask_index: 7 +- subtask: Pick up the toothpaste. + subtask_index: 8 +- subtask: Open the storage bag. + subtask_index: 9 +- subtask: Close the strorage bag and place it on the desk. + subtask_index: 10 +- subtask: Place the toothbrush in the storage bag. + subtask_index: 11 +- subtask: Hand it to the other hand. + subtask_index: 12 +- subtask: null. + subtask_index: 13 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 101 + total_frames: 138432 + fps: 30 + total_tasks: 14 + total_videos: 303 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 6.95 GB +frame_num: 138432 +frame_range: 1M +dataset_size: 6.95 GB +data_structure: 'R1_Lite_storage_of_toiletries_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (89 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:100 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_switch_labels.yaml b/dataset_info/Galaxea_R1_Lite_switch_labels.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7290a507563ae1f14a02e379bb8d854bcc60631a --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_switch_labels.yaml @@ -0,0 +1,455 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_switch_labels +dataset_uuid: e32d8bbd-d12b-45e0-9c3f-932e67428f3d +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: the_door +- object_name: door_handle +- object_name: tag +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the label off the door handle with the gripper, then place it back. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: abnormal. + subtask_index: 1 +- subtask: pick up down the sign. + subtask_index: 2 +- subtask: Hang the lable on the doorknob with right gripper. + subtask_index: 3 +- subtask: Grasp the lable with left gripper. + subtask_index: 4 +- subtask: Pass the lable from the left gripper to the right gripper. + subtask_index: 5 +- subtask: Hang the sign back with the other side facing out. + subtask_index: 6 +- subtask: Hand it to the other hand. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 171139 + fps: 30 + total_tasks: 9 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 7.26 GB +frame_num: 171139 +frame_range: 1M +dataset_size: 7.26 GB +data_structure: 'R1_Lite_switch_labels_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_switch_on_and_off_the_central_air_conditioning.yaml b/dataset_info/Galaxea_R1_Lite_switch_on_and_off_the_central_air_conditioning.yaml new file mode 100644 index 0000000000000000000000000000000000000000..90126823e15913784b8414e27acf8825e46d466c --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_switch_on_and_off_the_central_air_conditioning.yaml @@ -0,0 +1,445 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_switch_on_and_off_the_central_air_conditioning +dataset_uuid: 6d6d5868-e715-41cc-a7df-972218e02479 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: central_air_conditioning +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Turn on the AC, press the temperature up and down with the gripper. +sub_tasks: +- subtask: Turn off the central air conditioner. + subtask_index: 0 +- subtask: Press the temperature decrease button. + subtask_index: 1 +- subtask: Press the temperature increase button. + subtask_index: 2 +- subtask: Turn on the central air conditioner. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 35 + total_frames: 19688 + fps: 30 + total_tasks: 5 + total_videos: 105 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 793.35 MB +frame_num: 19688 +frame_range: 100K +dataset_size: 793.35 MB +data_structure: 'R1_Lite_switch_on_and_off_the_central_air_conditioning_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (23 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:34 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_tableware_arrangement.yaml b/dataset_info/Galaxea_R1_Lite_tableware_arrangement.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4b8fd7b50d7c2aa6ab25524b97fb9f9a20ccd81c --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_tableware_arrangement.yaml @@ -0,0 +1,447 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_tableware_arrangement +dataset_uuid: 85abe0d0-6c0a-432a-9dd0-14e2ca009399 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: chopsticks +- object_name: spoon +- object_name: bowl +- object_name: plate +- object_name: lunch_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the chopsticks, spoons, and bowls on the plates with the gripper. Place the + chopsticks, spoons, and bowls away with the gripper. +sub_tasks: +- subtask: place the chopsticks back from the plate. + subtask_index: 0 +- subtask: place the bowl back from the plate. + subtask_index: 1 +- subtask: place the spoon back from the bowl. + subtask_index: 2 +- subtask: pick up the chopsticks and place it on the plate. + subtask_index: 3 +- subtask: abnormal. + subtask_index: 4 +- subtask: pick up the bowl and place it on the plate. + subtask_index: 5 +- subtask: pick up the spoon and place it into the bowl. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 8 + total_frames: 16015 + fps: 30 + total_tasks: 8 + total_videos: 24 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 628.54 MB +frame_num: 16015 +frame_range: 100K +dataset_size: 628.54 MB +data_structure: 'R1_Lite_tableware_arrangement_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | `-- episode_000007.parquet + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:7 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_tableware_cleaning.yaml b/dataset_info/Galaxea_R1_Lite_tableware_cleaning.yaml new file mode 100644 index 0000000000000000000000000000000000000000..08488b88f321408b0690eccf2141d838e97c5e94 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_tableware_cleaning.yaml @@ -0,0 +1,492 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_tableware_cleaning +dataset_uuid: 1969fa83-52f1-4c9f-94c6-6f9802241318 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bowl +- object_name: chopsticks +- object_name: spoon +- object_name: plate +- object_name: dishwashing_liquid +- object_name: sponge +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Wipe the tableware with a sponge containing detergent with the gripper, then place + them in their original places with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Rinse the chopsticks. + subtask_index: 1 +- subtask: Place the dish soap on the table. + subtask_index: 2 +- subtask: Wipe the plate. + subtask_index: 3 +- subtask: Rinse the plate. + subtask_index: 4 +- subtask: Place the chopsticks on the glass basin. + subtask_index: 5 +- subtask: Pick up a bowl and the sponge. + subtask_index: 6 +- subtask: Rinse the bowl. + subtask_index: 7 +- subtask: rinse the plate. + subtask_index: 8 +- subtask: Place the plate on the plate. + subtask_index: 9 +- subtask: Place the plate on the table. + subtask_index: 10 +- subtask: Place the spoon in the glass basin. + subtask_index: 11 +- subtask: Place the bowl on the table. + subtask_index: 12 +- subtask: Wipe the bowl. + subtask_index: 13 +- subtask: Squeeze it onto the sponge. + subtask_index: 14 +- subtask: Abnormal. + subtask_index: 15 +- subtask: Rinse the spoon. + subtask_index: 16 +- subtask: Place the bowl on the plate. + subtask_index: 17 +- subtask: place down the sponge. + subtask_index: 18 +- subtask: Place the bowl on the bowl. + subtask_index: 19 +- subtask: Turn off the faucet. + subtask_index: 20 +- subtask: pick up the dish soap. + subtask_index: 21 +- subtask: rinse the bowl. + subtask_index: 22 +- subtask: Turn on the faucet. + subtask_index: 23 +- subtask: null. + subtask_index: 24 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 102 + total_frames: 327254 + fps: 30 + total_tasks: 25 + total_videos: 306 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 17.62 GB +frame_num: 327254 +frame_range: 1M +dataset_size: 17.62 GB +data_structure: 'R1_Lite_tableware_cleaning_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (90 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:101 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_take_and_place_the_portable_power_bank.yaml b/dataset_info/Galaxea_R1_Lite_take_and_place_the_portable_power_bank.yaml new file mode 100644 index 0000000000000000000000000000000000000000..77e027fa1e02d5a031a3bbd09b476806eaf6a587 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_take_and_place_the_portable_power_bank.yaml @@ -0,0 +1,458 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_take_and_place_the_portable_power_bank +dataset_uuid: f283fb8d-62de-4238-bb07-bcac110d50bb +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cloth_bag +- object_name: portable_power_bank +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the cloth bag with the gripper, pick up the power bank, and place it back. +sub_tasks: +- subtask: Open the top of the storage box. + subtask_index: 0 +- subtask: drop the handle. + subtask_index: 1 +- subtask: Grip the handle again. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: abnormal. + subtask_index: 4 +- subtask: Lift the black box. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: Grip the handle. + subtask_index: 7 +- subtask: Place the black box back. + subtask_index: 8 +- subtask: Close the top of the storage box. + subtask_index: 9 +- subtask: null. + subtask_index: 10 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 110 + total_frames: 237234 + fps: 30 + total_tasks: 11 + total_videos: 330 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 17.29 GB +frame_num: 237234 +frame_range: 1M +dataset_size: 17.29 GB +data_structure: 'R1_Lite_take_and_place_the_portable_power_bank_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (98 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:109 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_take_and_put_away_garden_stuff.yaml b/dataset_info/Galaxea_R1_Lite_take_and_put_away_garden_stuff.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6991be90d3beca6d0e70008a25015c4476cad6c --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_take_and_put_away_garden_stuff.yaml @@ -0,0 +1,468 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_take_and_put_away_garden_stuff +dataset_uuid: 05f234b5-3958-4897-b330-5c91290dd15c +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: refrigerator +- object_name: drawer +- object_name: table +- object_name: tray +- object_name: potato +- object_name: green_pepper +- object_name: pumpkin +- object_name: apple +- object_name: orange +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the items on the ground and table into boxes with the gripper, and cover the + boxes with the gripper. +sub_tasks: +- subtask: Pick up the ball on the table. + subtask_index: 0 +- subtask: Pick up the ball on the lid. + subtask_index: 1 +- subtask: place the toys into the box. + subtask_index: 2 +- subtask: Open the lid. + subtask_index: 3 +- subtask: abnormal. + subtask_index: 4 +- subtask: Close the lid. + subtask_index: 5 +- subtask: place the ball into the box. + subtask_index: 6 +- subtask: Pick up the ball on the floor. + subtask_index: 7 +- subtask: Pick up toys out of the box. + subtask_index: 8 +- subtask: Find toys out of the box. + subtask_index: 9 +- subtask: null. + subtask_index: 10 +atomic_actions: +- grasp +- pick +- place +- pull +- push +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 53 + total_frames: 135711 + fps: 30 + total_tasks: 11 + total_videos: 159 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 7.54 GB +frame_num: 135711 +frame_range: 1M +dataset_size: 7.54 GB +data_structure: 'R1_Lite_take_and_put_away_garden_stuff_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (41 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:52 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_take_and_put_away_garden_stuff_a.yaml b/dataset_info/Galaxea_R1_Lite_take_and_put_away_garden_stuff_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d30dcbfe3087544a96d0ee1808a8781d21ddb12a --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_take_and_put_away_garden_stuff_a.yaml @@ -0,0 +1,514 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_take_and_put_away_garden_stuff_a +dataset_uuid: 7c763184-bc85-4d7e-b01b-85ba85cbb6f2 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: refrigerator +- object_name: drawer +- object_name: table +- object_name: tray +- object_name: potato +- object_name: green_pepper +- object_name: pumpkin +- object_name: apple +- object_name: orange +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the things on the table with the gripper, then pick them up with the gripper + and place them in the refrigerator drawer. +sub_tasks: +- subtask: Grasp the apple and place it on the table with right gripper. + subtask_index: 0 +- subtask: Place the green bell pepper in the lower drawer with right gripper. + subtask_index: 1 +- subtask: place green pepper in the refrigerator drawer. + subtask_index: 2 +- subtask: Place the orange in the lower drawer with right gripper. + subtask_index: 3 +- subtask: Place the potato in the lower drawer with left gripper. + subtask_index: 4 +- subtask: pick up out the potato and place it on the table. + subtask_index: 5 +- subtask: Open the refrigerator door with left gripper. + subtask_index: 6 +- subtask: Place the potato in the lower drawer with right gripper. + subtask_index: 7 +- subtask: pick up out the apple and place it on the tray. + subtask_index: 8 +- subtask: Open the refrigerator door. + subtask_index: 9 +- subtask: End. + subtask_index: 10 +- subtask: Close the refrigerator door. + subtask_index: 11 +- subtask: Close the lower drawer with the left gripper. + subtask_index: 12 +- subtask: Grasp the potato and place it on the table with left gripper. + subtask_index: 13 +- subtask: Open the lower refrigerator drawer. + subtask_index: 14 +- subtask: Close the middle refrigerator door with the right gripper. + subtask_index: 15 +- subtask: Place the apple in the lower drawer with right gripper. + subtask_index: 16 +- subtask: place orange in the refrigerator drawer. + subtask_index: 17 +- subtask: Abnormal. + subtask_index: 18 +- subtask: place pumpkin in the refrigerator drawer. + subtask_index: 19 +- subtask: Grasp the potato and place it on the table with right gripper. + subtask_index: 20 +- subtask: Close the lower refrigerator drawer. + subtask_index: 21 +- subtask: Place the green bell pepper in the lower drawer with left gripper. + subtask_index: 22 +- subtask: place apple in the refrigerator drawer. + subtask_index: 23 +- subtask: pick up out the pumpkin and place it on the table. + subtask_index: 24 +- subtask: Close the lower drawer with the right gripper. + subtask_index: 25 +- subtask: Grasp the orange and place it on the table with right gripper. + subtask_index: 26 +- subtask: place potato in the refrigerator drawer. + subtask_index: 27 +- subtask: pick up out the green pepper and place it on the table. + subtask_index: 28 +- subtask: pick up out the orange and place it on the tray. + subtask_index: 29 +- subtask: Grasp the green bell pepper and place it on the table with right gripper. + subtask_index: 30 +- subtask: pick up out the apple and place it on the table. + subtask_index: 31 +- subtask: Open the lower drawer with the right gripper. + subtask_index: 32 +- subtask: null. + subtask_index: 33 +atomic_actions: +- grasp +- pick +- place +- pull +- push +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 148 + total_frames: 355644 + fps: 30 + total_tasks: 34 + total_videos: 444 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 15.90 GB +frame_num: 355644 +frame_range: 1M +dataset_size: 15.90 GB +data_structure: 'R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (136 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:147 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_take_and_put_away_items.yaml b/dataset_info/Galaxea_R1_Lite_take_and_put_away_items.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8e05c541d79791d9649f1afd6c56264d55054617 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_take_and_put_away_items.yaml @@ -0,0 +1,465 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_take_and_put_away_items +dataset_uuid: fa3f7148-5f74-444e-82a5-9f8b31a69987 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: drawer +- object_name: umbrella +- object_name: data_cable +- object_name: mineral_water +- object_name: storage_box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the umbrellas with the gripper, store the water cables into the boxes, and + place the boxes on the drawers and tables. +sub_tasks: +- subtask: pick up the mineral water out of the drawer and place it on the table. + subtask_index: 0 +- subtask: Open the drawer. + subtask_index: 1 +- subtask: pick up the data cable out of the drawer and place it on the table. + subtask_index: 2 +- subtask: pick up the umbrella out of the drawer and place it on the table. + subtask_index: 3 +- subtask: pick up the storage box out of the drawer and place it on the table. + subtask_index: 4 +- subtask: place the storage box into the drawer. + subtask_index: 5 +- subtask: Close the drawer. + subtask_index: 6 +- subtask: place the umbrella into the drawer. + subtask_index: 7 +- subtask: place the data cable into the drawer. + subtask_index: 8 +- subtask: place the mineral water into the drawer. + subtask_index: 9 +- subtask: null. + subtask_index: 10 +atomic_actions: +- grasp +- pick +- place +- pull +- push +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 112 + total_frames: 137069 + fps: 30 + total_tasks: 11 + total_videos: 336 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 6.90 GB +frame_num: 137069 +frame_range: 1M +dataset_size: 6.90 GB +data_structure: 'R1_Lite_take_and_put_away_items_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (100 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:111 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_take_and_put_the_bowl.yaml b/dataset_info/Galaxea_R1_Lite_take_and_put_the_bowl.yaml new file mode 100644 index 0000000000000000000000000000000000000000..41e4b984d5af5586018e9ea9723e773476207b72 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_take_and_put_the_bowl.yaml @@ -0,0 +1,456 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_take_and_put_the_bowl +dataset_uuid: 29eb76ea-0c49-4f11-8073-7f7501b77736 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cabinet +- object_name: bowl +- object_name: cabinet_door +- object_name: plate +- object_name: table +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the bowls and plates in the cabinet with the gripper. Pick up the bowls and + plates out to the table with the gripper. Close the cabinet with the gripper. +sub_tasks: +- subtask: Place it on the table. + subtask_index: 0 +- subtask: place it back into the cabinet. + subtask_index: 1 +- subtask: pick up the plate from the cabinet. + subtask_index: 2 +- subtask: Pick up the plate from the table. + subtask_index: 3 +- subtask: Close the cabinet door. + subtask_index: 4 +- subtask: Pick up the bowl from the table. + subtask_index: 5 +- subtask: pick up the bowl from the cabinet. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 94 + total_frames: 189200 + fps: 30 + total_tasks: 8 + total_videos: 282 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 6.99 GB +frame_num: 189200 +frame_range: 1M +dataset_size: 6.99 GB +data_structure: 'R1_Lite_take_and_put_the_bowl_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (82 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:93 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_take_clothes_out_of_the_washing_machine.yaml b/dataset_info/Galaxea_R1_Lite_take_clothes_out_of_the_washing_machine.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5941c0fd1b2a1d0ac117b4f71559635103f2a63f --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_take_clothes_out_of_the_washing_machine.yaml @@ -0,0 +1,464 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_take_clothes_out_of_the_washing_machine +dataset_uuid: 75315916-19f4-400c-99a4-2bd123e2a42a +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: washing_machine +- object_name: basket +- object_name: cloth +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Turn on the washer, place the clothes in it, then pick up the out items with the + gripper and place them into the basket. +sub_tasks: +- subtask: Press the washing machine swap. + subtask_index: 0 +- subtask: Close the washing machine door with the right gripper. + subtask_index: 1 +- subtask: Open the lid of the washing machine. + subtask_index: 2 +- subtask: Close the washing machine door with the left gripper. + subtask_index: 3 +- subtask: pick up a cloth and place it into the basket. + subtask_index: 4 +- subtask: Place the clothes into the washing machine. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: Press the washing machine door tightly with the right gripper. + subtask_index: 7 +- subtask: abnormal. + subtask_index: 8 +- subtask: Pick up the clothes basket and place it beside the washing machine. + subtask_index: 9 +- subtask: Abnormal. + subtask_index: 10 +- subtask: Move to the front of the washing machine. + subtask_index: 11 +- subtask: null. + subtask_index: 12 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 114 + total_frames: 238333 + fps: 30 + total_tasks: 13 + total_videos: 342 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 16.06 GB +frame_num: 238333 +frame_range: 1M +dataset_size: 16.06 GB +data_structure: 'R1_Lite_take_clothes_out_of_the_washing_machine_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (102 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:113 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_take_or_store_plates.yaml b/dataset_info/Galaxea_R1_Lite_take_or_store_plates.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cdde2c37f88a427c42b35f3f662672ba9e2aae23 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_take_or_store_plates.yaml @@ -0,0 +1,449 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_take_or_store_plates +dataset_uuid: 3c2c0596-7690-4f94-911f-74035fe6e126 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cabinet +- object_name: drawer +- object_name: plate +- object_name: stove +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the plates with the gripper and store them on the stove and in the cabinet + drawers. +sub_tasks: +- subtask: Pick up the plate on the stove. + subtask_index: 0 +- subtask: place the plate in the cupboard. + subtask_index: 1 +- subtask: Pick up the plate in the cupboard. + subtask_index: 2 +- subtask: place the plate on the stove. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 105 + total_frames: 138676 + fps: 30 + total_tasks: 5 + total_videos: 315 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 5.20 GB +frame_num: 138676 +frame_range: 1M +dataset_size: 5.20 GB +data_structure: 'R1_Lite_take_or_store_plates_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (93 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:104 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_tea_service_table_setting.yaml b/dataset_info/Galaxea_R1_Lite_tea_service_table_setting.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9f79ed08fe509260af5228965f57b9474cf282f8 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_tea_service_table_setting.yaml @@ -0,0 +1,470 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_tea_service_table_setting +dataset_uuid: ae8f641b-7e62-47e3-a80a-aab9866a8d29 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: tea_table +- object_name: plate +- object_name: mineral_water +- object_name: cup +- object_name: kettle +- object_name: tea_bag +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the water kettle and tea bags from the tray with the gripper and place them + on the table. Then, pick them up from the table with the gripper and return them + to the tray. +sub_tasks: +- subtask: Return the tea bag to its original position. + subtask_index: 0 +- subtask: Pick up the tea bag. + subtask_index: 1 +- subtask: Pick up the tea cup. + subtask_index: 2 +- subtask: Return the tea cup to its original position. + subtask_index: 3 +- subtask: abnormal. + subtask_index: 4 +- subtask: Return the bottled water to its original position. + subtask_index: 5 +- subtask: Place it on the right. + subtask_index: 6 +- subtask: Return the kettle to its original position. + subtask_index: 7 +- subtask: Place it on the left. + subtask_index: 8 +- subtask: Place it in front of you. + subtask_index: 9 +- subtask: Pick up the kettle. + subtask_index: 10 +- subtask: Pick up the bottled water. + subtask_index: 11 +- subtask: Place it on the tray. + subtask_index: 12 +- subtask: null. + subtask_index: 13 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 109 + total_frames: 107465 + fps: 30 + total_tasks: 14 + total_videos: 327 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 4.61 GB +frame_num: 107465 +frame_range: 1M +dataset_size: 4.61 GB +data_structure: 'R1_Lite_tea_service_table_setting_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (97 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:108 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_throw_out_the_trash.yaml b/dataset_info/Galaxea_R1_Lite_throw_out_the_trash.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9b21f9088ae5e8e164f6e0131e9c697ab85d0fd0 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_throw_out_the_trash.yaml @@ -0,0 +1,450 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_throw_out_the_trash +dataset_uuid: 1aceeebe-3221-4690-8d72-ca6f9ec512eb +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: trash_can +- object_name: garbage_bag +- object_name: the_door +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the garbage bag from the can with the gripper, walk to the door, and place + it on the ground with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the outer trash can on the ground. + subtask_index: 1 +- subtask: place the trash bag at the door. + subtask_index: 2 +- subtask: Pick up the trash bag. + subtask_index: 3 +- subtask: abnormal. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 109 + total_frames: 143720 + fps: 30 + total_tasks: 6 + total_videos: 327 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 6.03 GB +frame_num: 143720 +frame_range: 1M +dataset_size: 6.03 GB +data_structure: 'R1_Lite_throw_out_the_trash_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (97 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:108 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_tidy_up_toiletries.yaml b/dataset_info/Galaxea_R1_Lite_tidy_up_toiletries.yaml new file mode 100644 index 0000000000000000000000000000000000000000..120fbb8b22f36e8afa0238328e91a29c0cfe6335 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_tidy_up_toiletries.yaml @@ -0,0 +1,468 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_tidy_up_toiletries +dataset_uuid: 8dfd4c19-842d-4dce-8253-ffaf5f56d7df +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: toiletries +- object_name: drawer +- object_name: storage_box +- object_name: cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place toiletries into the drawer with the gripper. Place the cup into the box or + on the table with the gripper. +sub_tasks: +- subtask: Place the cup on the table. + subtask_index: 0 +- subtask: Place the comb on the table with the right gripper. + subtask_index: 1 +- subtask: Place the bathroom toiletry into the drawer. + subtask_index: 2 +- subtask: Pick up the cup. + subtask_index: 3 +- subtask: Pick up the bathroom toiletry. + subtask_index: 4 +- subtask: Open the drawer with the left gripper. + subtask_index: 5 +- subtask: Grasp the bathroom toiletry with the left gripper. + subtask_index: 6 +- subtask: place toiletries into the drawer. + subtask_index: 7 +- subtask: Grasp the black cup with the left gripper. + subtask_index: 8 +- subtask: Place the cup on the storage box. + subtask_index: 9 +- subtask: Close the drawer. + subtask_index: 10 +- subtask: Open the drawer. + subtask_index: 11 +- subtask: Place the black cup on the drawer with the left gripper. + subtask_index: 12 +- subtask: null. + subtask_index: 13 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 115 + total_frames: 205789 + fps: 30 + total_tasks: 14 + total_videos: 345 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 9.82 GB +frame_num: 205789 +frame_range: 1M +dataset_size: 9.82 GB +data_structure: 'R1_Lite_tidy_up_toiletries_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (103 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:114 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_toggle_drawer_red.yaml b/dataset_info/Galaxea_R1_Lite_toggle_drawer_red.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9db3d751dd13d17250812cda039a79b6583998b2 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_toggle_drawer_red.yaml @@ -0,0 +1,496 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_toggle_drawer_red +dataset_uuid: 4a7631d8-d155-4f92-8256-275c81a1a04c +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: red_drawer +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the drawer with the gripper. Close the red drawer with the gripper. +sub_tasks: +- subtask: Open the red drawer with right gripper. + subtask_index: 0 +- subtask: Open the yellow drawer with left gripper. + subtask_index: 1 +- subtask: Close the red drawer with right gripper. + subtask_index: 2 +- subtask: Close the yellow drawer with left gripper. + subtask_index: 3 +- subtask: Open the red drawer with the right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Open the red drawer with the left gripper. + subtask_index: 6 +- subtask: Open the red drawer with left gripper. + subtask_index: 7 +- subtask: Right gripper. + subtask_index: 8 +- subtask: Close the red drawer with the left gripper. + subtask_index: 9 +- subtask: Close the red drawer with the right gripper. + subtask_index: 10 +- subtask: Close the red drawer with left gripper. + subtask_index: 11 +- subtask: Left gripper. + subtask_index: 12 +- subtask: null. + subtask_index: 13 +atomic_actions: +- grasp +- push +- pull +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 41856 + fps: 30 + total_tasks: 14 + total_videos: 400 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.80 GB +frame_num: 41856 +frame_range: 100K +dataset_size: 1.80 GB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_toggle_drawer_red_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_toggle_drawer_yellow.yaml b/dataset_info/Galaxea_R1_Lite_toggle_drawer_yellow.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1ff122bef5de67700ffd07011d1b1e1aa299d836 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_toggle_drawer_yellow.yaml @@ -0,0 +1,492 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_toggle_drawer_yellow +dataset_uuid: d6dd9ba4-6793-4774-89e2-4432d8cd8496 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: yellow_drawer +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the drawer with the gripper. Close the yellow drawer with the gripper. +sub_tasks: +- subtask: Open the yellow drawer with left gripper. + subtask_index: 0 +- subtask: Close the yellow drawer with left gripper. + subtask_index: 1 +- subtask: Close the yellow drawer with the right gripper. + subtask_index: 2 +- subtask: Open the yellow drawer with the right gripper. + subtask_index: 3 +- subtask: Close the yellow drawer with the left gripper. + subtask_index: 4 +- subtask: Open the yellow drawer with right gripper. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: Open the yellow drawer with the left gripper. + subtask_index: 7 +- subtask: Close the yellow drawer with right gripper. + subtask_index: 8 +- subtask: Right gripper. + subtask_index: 9 +- subtask: Left gripper. + subtask_index: 10 +- subtask: null. + subtask_index: 11 +atomic_actions: +- grasp +- push +- pull +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 97 + total_frames: 37662 + fps: 30 + total_tasks: 12 + total_videos: 388 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.57 GB +frame_num: 37662 +frame_range: 100K +dataset_size: 1.57 GB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_toggle_drawer_yellow_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (85 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:96 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_wash_the_tableware.yaml b/dataset_info/Galaxea_R1_Lite_wash_the_tableware.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c293e9d333c162e10620cbdd389abe2640c71082 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_wash_the_tableware.yaml @@ -0,0 +1,525 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_wash_the_tableware +dataset_uuid: 62b4f49b-4413-4d29-9822-c440835cdf41 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: sink +- object_name: chopsticks +- object_name: spoon +- object_name: bowl +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Turn on the faucet with the gripper. Place the tableware into the sink with the + gripper. Rinse the tableware with the gripper, then place it back with the gripper. +sub_tasks: +- subtask: Grasp yellow bowl with right gripper. + subtask_index: 0 +- subtask: Pick up the bowl. + subtask_index: 1 +- subtask: Open the dispenser valve with right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Rinse the chopsticks. + subtask_index: 4 +- subtask: place the chopsticks into the sink. + subtask_index: 5 +- subtask: Place the chopsticks on the table. + subtask_index: 6 +- subtask: place a spoon back to the table from the sink. + subtask_index: 7 +- subtask: place a bowl back to the table from the sink. + subtask_index: 8 +- subtask: Place pink bowl into the sink with right gripper. + subtask_index: 9 +- subtask: Rinse the plate. + subtask_index: 10 +- subtask: Wait for the water to rinse the bowl. + subtask_index: 11 +- subtask: Place a chopstick into the sink with right gripper. + subtask_index: 12 +- subtask: place a bowl into the sink. + subtask_index: 13 +- subtask: Rinse the bowl. + subtask_index: 14 +- subtask: Place a chopstick on the bowl with right gripper. + subtask_index: 15 +- subtask: Place the plate on the table. + subtask_index: 16 +- subtask: Pour the water from the yellow bowl into the sink with right gripper. + subtask_index: 17 +- subtask: Place the bowl on the table. + subtask_index: 18 +- subtask: Pick up the chopsticks. + subtask_index: 19 +- subtask: place the chopsticks back to the table from the sink. + subtask_index: 20 +- subtask: place a spoon into the sink. + subtask_index: 21 +- subtask: Pour the water from the pink bowl into the sink with right gripper. + subtask_index: 22 +- subtask: Place the chopsticks on the bowl. + subtask_index: 23 +- subtask: Abnormal. + subtask_index: 24 +- subtask: Pick up the spoon. + subtask_index: 25 +- subtask: Rinse the spoon. + subtask_index: 26 +- subtask: Place yellow bowl on the table with right gripper. + subtask_index: 27 +- subtask: Place yellow bowl into the sink with right gripper. + subtask_index: 28 +- subtask: Place the spoon on the plate. + subtask_index: 29 +- subtask: place a plate back to the table from the sink. + subtask_index: 30 +- subtask: abnormal. + subtask_index: 31 +- subtask: Turn off the faucet. + subtask_index: 32 +- subtask: Pick up the plate. + subtask_index: 33 +- subtask: Place the spoon on the bowl. + subtask_index: 34 +- subtask: Close the dispenser valve with right gripper. + subtask_index: 35 +- subtask: Grasp a chopstick with right gripper. + subtask_index: 36 +- subtask: Grasp pink bowl with right gripper. + subtask_index: 37 +- subtask: Turn on the faucet. + subtask_index: 38 +- subtask: Place pink bowl on the table with right gripper. + subtask_index: 39 +- subtask: place a plate into the sink. + subtask_index: 40 +- subtask: null. + subtask_index: 41 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 137 + total_frames: 197672 + fps: 30 + total_tasks: 42 + total_videos: 411 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 7.26 GB +frame_num: 197672 +frame_range: 1M +dataset_size: 7.26 GB +data_structure: 'R1_Lite_wash_the_tableware_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (125 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:136 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_washing_board.yaml b/dataset_info/Galaxea_R1_Lite_washing_board.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e9fc9635f90ae42761eda8e124c42d6ba976c697 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_washing_board.yaml @@ -0,0 +1,460 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_washing_board +dataset_uuid: 5321a05d-2861-4198-a91f-b238e2567ee9 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: faucet +- object_name: sponge +- object_name: cutting_board +- object_name: sink +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Turn on the tap with the gripper. Wipe the cutting board with the cloth. Turn off + the tap with the gripper. +sub_tasks: +- subtask: Pick up the cleaning cloth. + subtask_index: 0 +- subtask: abnormal. + subtask_index: 1 +- subtask: Turn on the tap. + subtask_index: 2 +- subtask: place down the cutting board. + subtask_index: 3 +- subtask: place down the cleaning cloth. + subtask_index: 4 +- subtask: Pick up the cutting board. + subtask_index: 5 +- subtask: Turn off the tap. + subtask_index: 6 +- subtask: wipe the cutting board underwater. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- pick +- place +- open +- wipe +- close +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 97 + total_frames: 156103 + fps: 30 + total_tasks: 9 + total_videos: 291 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 6.94 GB +frame_num: 156103 +frame_range: 1M +dataset_size: 6.94 GB +data_structure: 'R1_Lite_washing_board_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (85 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:96 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_wipe_the_table.yaml b/dataset_info/Galaxea_R1_Lite_wipe_the_table.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d7e32b01ca70a6261bc9666504490b4dba731eb6 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_wipe_the_table.yaml @@ -0,0 +1,451 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galaxea_R1_Lite_wipe_the_table +dataset_uuid: b7447b1b-1e24-4b6f-9835-82048a217823 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: towel +- object_name: stains +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Wipe the stains on the table with a cloth with the gripper. +sub_tasks: +- subtask: Pick up the tablecloth. + subtask_index: 0 +- subtask: Place the tablecloth. + subtask_index: 1 +- subtask: Place the bottle at the back of the table. + subtask_index: 2 +- subtask: Pick up the bottle. + subtask_index: 3 +- subtask: wipe the stains on the table. + subtask_index: 4 +- subtask: Hand it to the other hand. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Galaxea_R1_Lite +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 107 + total_frames: 67215 + fps: 30 + total_tasks: 7 + total_videos: 321 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 2.40 GB +frame_num: 67215 +frame_range: 100K +dataset_size: 2.40 GB +data_structure: 'R1_Lite_wipe_the_table_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (95 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:106 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_fold_clothe_b.yaml b/dataset_info/Galbot_G1_fold_clothe_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3790131468a908674dade234d24664ef0ea89ef0 --- /dev/null +++ b/dataset_info/Galbot_G1_fold_clothe_b.yaml @@ -0,0 +1,504 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_fold_clothe_b +dataset_uuid: 0dd63c25-960f-4489-88af-e3c5c38998c2 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: clothes +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- fold and organize the clothes. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: clamp the left edge of the fabric. + subtask_index: 1 +- subtask: pull the clothes to the center of the table. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: use both grippers simultaneously to clamp the upper edge of the clothing + fabric. + subtask_index: 4 +- subtask: use both grippers to pull the lower edge of the fabric forward and fold + it over the upper edge. + subtask_index: 5 +- subtask: use both grippers to pull the upper edge of the fabric backward and fold + it over the lower edge. + subtask_index: 6 +- subtask: use both grippers simultaneously to clamp the lower edge of the clothing + fabric. + subtask_index: 7 +- subtask: pull the clothes downward with both gripper. + subtask_index: 8 +- subtask: pull the left edge of the fabric to the left and folds it over the right + edge. + subtask_index: 9 +- subtask: Flip the folded clothes over with left gripper. + subtask_index: 10 +- subtask: null. + subtask_index: 11 +atomic_actions: +- grasp +- place +- pick +- flod +robot_name: +- Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 213 + total_frames: 197328 + fps: 30 + total_tasks: 12 + total_videos: 639 + total_chunks: 1 + chunks_size: 1000 + state_dim: 49 + action_dim: 16 + camera_views: 3 + dataset_size: 8.83 GB +frame_num: 197328 +frame_range: 1M +dataset_size: 8.83 GB +data_structure: 'Galbot_g1_fold_clothe_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (201 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:212 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_fold_clothe_c.yaml b/dataset_info/Galbot_G1_fold_clothe_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..38e1c2dea95d6c7d13e71cc78d57a9ec215fccc5 --- /dev/null +++ b/dataset_info/Galbot_G1_fold_clothe_c.yaml @@ -0,0 +1,504 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_fold_clothe_c +dataset_uuid: 9c9c15eb-08d9-4119-b551-ce2439643f0f +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: clothes +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- fold and organize the clothes. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: clamp the left edge of the fabric. + subtask_index: 1 +- subtask: pull the clothes to the center of the table. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: use both grippers simultaneously to clamp the upper edge of the clothing + fabric. + subtask_index: 4 +- subtask: use both grippers to pull the lower edge of the fabric forward and fold + it over the upper edge. + subtask_index: 5 +- subtask: use both grippers to pull the upper edge of the fabric backward and fold + it over the lower edge. + subtask_index: 6 +- subtask: use both grippers simultaneously to clamp the lower edge of the clothing + fabric. + subtask_index: 7 +- subtask: pull the clothes downward with both gripper. + subtask_index: 8 +- subtask: pull the left edge of the fabric to the left and folds it over the right + edge. + subtask_index: 9 +- subtask: Flip the folded clothes over with left gripper. + subtask_index: 10 +- subtask: null. + subtask_index: 11 +atomic_actions: +- grasp +- place +- pick +- flod +robot_name: +- Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 666 + total_frames: 516810 + fps: 30 + total_tasks: 12 + total_videos: 1998 + total_chunks: 1 + chunks_size: 1000 + state_dim: 49 + action_dim: 16 + camera_views: 3 + dataset_size: 22.34 GB +frame_num: 516810 +frame_range: 1M +dataset_size: 22.34 GB +data_structure: 'Galbot_g1_fold_clothe_c_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (654 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:665 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_fold_clothe_e.yaml b/dataset_info/Galbot_G1_fold_clothe_e.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3996f117903c315a95dfdca120487f37aaf059c5 --- /dev/null +++ b/dataset_info/Galbot_G1_fold_clothe_e.yaml @@ -0,0 +1,506 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_fold_clothe_e +dataset_uuid: 55462322-b5d2-4e42-a329-a02ce05490b8 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: clothes +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- fold and organize the clothes. +sub_tasks: +- subtask: Flip the folded clothes over with right gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: clamp the left edge of the fabric. + subtask_index: 2 +- subtask: pull the clothes to the center of the table. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: use both grippers simultaneously to clamp the upper edge of the clothing + fabric. + subtask_index: 5 +- subtask: use both grippers to pull the lower edge of the fabric forward and fold + it over the upper edge. + subtask_index: 6 +- subtask: use both grippers to pull the upper edge of the fabric backward and fold + it over the lower edge. + subtask_index: 7 +- subtask: use both grippers simultaneously to clamp the lower edge of the clothing + fabric. + subtask_index: 8 +- subtask: pull the clothes downward with both gripper. + subtask_index: 9 +- subtask: pull the left edge of the fabric to the left and folds it over the right + edge. + subtask_index: 10 +- subtask: Flip the folded clothes over with left gripper. + subtask_index: 11 +- subtask: null. + subtask_index: 12 +atomic_actions: +- grasp +- place +- pick +- flod +robot_name: +- Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 865 + total_frames: 692130 + fps: 30 + total_tasks: 13 + total_videos: 2595 + total_chunks: 1 + chunks_size: 1000 + state_dim: 49 + action_dim: 16 + camera_views: 3 + dataset_size: 25.82 GB +frame_num: 692130 +frame_range: 1M +dataset_size: 25.82 GB +data_structure: 'Galbot_g1_fold_clothe_e_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (853 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:864 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_steamer_storage_baozi_a.yaml b/dataset_info/Galbot_G1_steamer_storage_baozi_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b356ba1ed0f95c8ed011c60abf9ca7baec70da6c --- /dev/null +++ b/dataset_info/Galbot_G1_steamer_storage_baozi_a.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_steamer_storage_baozi_a +dataset_uuid: 1e479c19-9f69-42ac-9238-114fcf1a487c +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: baozi +- object_name: steamer +- object_name: pot_lid +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- take steamed baozi put them in steamer then cover it. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the baozi on the steamer with right gripper. + subtask_index: 1 +- subtask: Place the pot lid on the steamer with left gripper. + subtask_index: 2 +- subtask: Grasp the pot lid with left gripper. + subtask_index: 3 +- subtask: Grasp the baozi in the plate with right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- place +- pick +robot_name: +- Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 266 + total_frames: 250217 + fps: 30 + total_tasks: 6 + total_videos: 798 + total_chunks: 1 + chunks_size: 1000 + state_dim: 49 + action_dim: 16 + camera_views: 3 + dataset_size: 4.29 GB +frame_num: 250217 +frame_range: 1M +dataset_size: 4.29 GB +data_structure: 'Galbot_g1_steamer_storage_baozi_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (254 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:265 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_steamer_storage_baozi_b.yaml b/dataset_info/Galbot_G1_steamer_storage_baozi_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b958c5bac51fb222d8ae363b168113706dced8c3 --- /dev/null +++ b/dataset_info/Galbot_G1_steamer_storage_baozi_b.yaml @@ -0,0 +1,491 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_steamer_storage_baozi_b +dataset_uuid: 8e39e24f-3c2a-42e1-a5ca-04a7b55ef43c +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: baozi +- object_name: steamer +- object_name: pot_lid +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- take steamed baozi put them in steamer then cover it. +sub_tasks: +- subtask: Grasp the pot lid with left gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Place the pot lid on the steamer with left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the baozi on the steamer with right gripper. + subtask_index: 4 +- subtask: Grasp the baozi in the plate with right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- place +- pick +robot_name: +- Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 430 + total_frames: 449647 + fps: 30 + total_tasks: 7 + total_videos: 1290 + total_chunks: 1 + chunks_size: 1000 + state_dim: 49 + action_dim: 16 + camera_views: 3 + dataset_size: 8.49 GB +frame_num: 449647 +frame_range: 1M +dataset_size: 8.49 GB +data_structure: 'Galbot_g1_steamer_storage_baozi_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (418 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:429 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_steamer_storage_baozi_c.yaml b/dataset_info/Galbot_G1_steamer_storage_baozi_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3574a040a1b12e48015fd0b8a915fc6e46e405a6 --- /dev/null +++ b/dataset_info/Galbot_G1_steamer_storage_baozi_c.yaml @@ -0,0 +1,491 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_steamer_storage_baozi_c +dataset_uuid: 9e52b78e-5521-46bc-a8f7-c30253014025 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: baozi +- object_name: steamer +- object_name: pot_lid +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- take steamed baozi put them in steamer then cover it. +sub_tasks: +- subtask: Grasp the pot lid with left gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Place the pot lid on the steamer with left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the baozi on the steamer with right gripper. + subtask_index: 4 +- subtask: Grasp the baozi in the plate with right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- place +- pick +robot_name: +- Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 207 + total_frames: 226059 + fps: 30 + total_tasks: 7 + total_videos: 621 + total_chunks: 1 + chunks_size: 1000 + state_dim: 49 + action_dim: 16 + camera_views: 3 + dataset_size: 3.97 GB +frame_num: 226059 +frame_range: 1M +dataset_size: 3.97 GB +data_structure: 'Galbot_g1_steamer_storage_baozi_c_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (195 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:206 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_steamer_storage_baozi_d.yaml b/dataset_info/Galbot_G1_steamer_storage_baozi_d.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cbcdebb157502f499817b110eaf5beab9b7144e1 --- /dev/null +++ b/dataset_info/Galbot_G1_steamer_storage_baozi_d.yaml @@ -0,0 +1,491 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_steamer_storage_baozi_d +dataset_uuid: 6476bc25-2a08-4c26-98c9-e84875c9b667 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: baozi +- object_name: steamer +- object_name: pot_lid +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- take steamed baozi put them in steamer then cover it. +sub_tasks: +- subtask: Grasp the pot lid with left gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Place the pot lid on the steamer with left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the baozi on the steamer with right gripper. + subtask_index: 4 +- subtask: Grasp the baozi in the plate with right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- place +- pick +robot_name: +- Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 969 + total_frames: 992823 + fps: 30 + total_tasks: 7 + total_videos: 2907 + total_chunks: 1 + chunks_size: 1000 + state_dim: 49 + action_dim: 16 + camera_views: 3 + dataset_size: 16.70 GB +frame_num: 992823 +frame_range: 1M +dataset_size: 16.70 GB +data_structure: 'Galbot_g1_steamer_storage_baozi_d_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (957 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:968 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_steamer_storage_baozi_e.yaml b/dataset_info/Galbot_G1_steamer_storage_baozi_e.yaml new file mode 100644 index 0000000000000000000000000000000000000000..69deb77bb82c3c87b70e3aafdf151965587afe2a --- /dev/null +++ b/dataset_info/Galbot_G1_steamer_storage_baozi_e.yaml @@ -0,0 +1,491 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_steamer_storage_baozi_e +dataset_uuid: c1e9fbc2-7775-4cc2-9a8c-d4c58aca210a +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: baozi +- object_name: steamer +- object_name: pot_lid +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- take steamed baozi put them in steamer then cover it. +sub_tasks: +- subtask: Grasp the pot lid with left gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Place the pot lid on the steamer with left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the baozi on the steamer with right gripper. + subtask_index: 4 +- subtask: Grasp the baozi in the plate with right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- place +- pick +robot_name: +- Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 607 + total_frames: 627792 + fps: 30 + total_tasks: 7 + total_videos: 1821 + total_chunks: 1 + chunks_size: 1000 + state_dim: 49 + action_dim: 16 + camera_views: 3 + dataset_size: 11.15 GB +frame_num: 627792 +frame_range: 1M +dataset_size: 11.15 GB +data_structure: 'Galbot_g1_steamer_storage_baozi_e_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (595 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:606 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_steamer_storage_baozi_f.yaml b/dataset_info/Galbot_G1_steamer_storage_baozi_f.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4f7cf244db08fa4c40820ea412d27082625bbde9 --- /dev/null +++ b/dataset_info/Galbot_G1_steamer_storage_baozi_f.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_steamer_storage_baozi_f +dataset_uuid: 1e21db73-d466-45c1-8126-027d96c93953 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: baozi +- object_name: steamer +- object_name: pot_lid +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- take steamed baozi put them in steamer then cover it. +sub_tasks: +- subtask: Grasp the pot lid with left gripper. + subtask_index: 0 +- subtask: Place the pot lid on the steamer with left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the baozi on the steamer with right gripper. + subtask_index: 3 +- subtask: Grasp the baozi in the plate with right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- place +- pick +robot_name: +- Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 96 + total_frames: 101540 + fps: 30 + total_tasks: 6 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + state_dim: 49 + action_dim: 16 + camera_views: 3 + dataset_size: 1.95 GB +frame_num: 101540 +frame_range: 1M +dataset_size: 1.95 GB +data_structure: 'Galbot_g1_steamer_storage_baozi_f_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (84 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:95 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_steamer_storage_baozi_g.yaml b/dataset_info/Galbot_G1_steamer_storage_baozi_g.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b58393e3dfebe63c36bb73835efda747922895cd --- /dev/null +++ b/dataset_info/Galbot_G1_steamer_storage_baozi_g.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_steamer_storage_baozi_g +dataset_uuid: fc0c05a2-5b0d-4aa4-9329-eb16047d2f03 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: baozi +- object_name: steamer +- object_name: pot_lid +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- take steamed baozi put them in steamer then cover it. +sub_tasks: +- subtask: Grasp the pot lid with left gripper. + subtask_index: 0 +- subtask: Place the pot lid on the steamer with left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the baozi on the steamer with right gripper. + subtask_index: 3 +- subtask: Grasp the baozi in the plate with right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- place +- pick +robot_name: +- Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 89 + total_frames: 87860 + fps: 30 + total_tasks: 6 + total_videos: 267 + total_chunks: 1 + chunks_size: 1000 + state_dim: 49 + action_dim: 16 + camera_views: 3 + dataset_size: 1.60 GB +frame_num: 87860 +frame_range: 100K +dataset_size: 1.60 GB +data_structure: 'Galbot_g1_steamer_storage_baozi_g_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (77 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:88 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_steamer_storage_baozi_h.yaml b/dataset_info/Galbot_G1_steamer_storage_baozi_h.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9414f980e046621080a5c29e23758d2331c2c064 --- /dev/null +++ b/dataset_info/Galbot_G1_steamer_storage_baozi_h.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_steamer_storage_baozi_h +dataset_uuid: 23188104-2751-4169-b13b-286381a44645 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: baozi +- object_name: steamer +- object_name: pot_lid +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- take steamed baozi put them in steamer then cover it. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the baozi on the steamer with right gripper. + subtask_index: 1 +- subtask: Place the pot lid on the steamer with left gripper. + subtask_index: 2 +- subtask: Grasp the pot lid with left gripper. + subtask_index: 3 +- subtask: Grasp the baozi in the plate with right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- place +- pick +robot_name: +- Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 996 + total_frames: 979757 + fps: 30 + total_tasks: 6 + total_videos: 2988 + total_chunks: 1 + chunks_size: 1000 + state_dim: 49 + action_dim: 16 + camera_views: 3 + dataset_size: 18.21 GB +frame_num: 979757 +frame_range: 1M +dataset_size: 18.21 GB +data_structure: 'Galbot_g1_steamer_storage_baozi_h_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (984 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:995 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_steamer_storage_baozi_i.yaml b/dataset_info/Galbot_G1_steamer_storage_baozi_i.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f54ba79729b29fb02d7fb91b37ba69956bc119f0 --- /dev/null +++ b/dataset_info/Galbot_G1_steamer_storage_baozi_i.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_steamer_storage_baozi_i +dataset_uuid: 297d5a36-b520-4bf8-b733-99252b14cb64 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: baozi +- object_name: steamer +- object_name: pot_lid +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- take steamed baozi put them in steamer then cover it. +sub_tasks: +- subtask: Grasp the pot lid with left gripper. + subtask_index: 0 +- subtask: Place the pot lid on the steamer with left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the baozi on the steamer with right gripper. + subtask_index: 3 +- subtask: Grasp the baozi in the plate with right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- place +- pick +robot_name: +- Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 32 + total_frames: 30158 + fps: 30 + total_tasks: 6 + total_videos: 96 + total_chunks: 1 + chunks_size: 1000 + state_dim: 49 + action_dim: 16 + camera_views: 3 + dataset_size: 558.36 MB +frame_num: 30158 +frame_range: 100K +dataset_size: 558.36 MB +data_structure: 'Galbot_g1_steamer_storage_baozi_i_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (20 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:31 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_steamer_storage_baozi_j.yaml b/dataset_info/Galbot_G1_steamer_storage_baozi_j.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8fd3d1b7e4d44632ba73f90f02d9bb7a7c80f922 --- /dev/null +++ b/dataset_info/Galbot_G1_steamer_storage_baozi_j.yaml @@ -0,0 +1,499 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Galbot_G1_steamer_storage_baozi_j +dataset_uuid: b53dc50b-2b01-4783-900a-e0a8fa876a20 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: baozi +- object_name: steamer +- object_name: pot_lid +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- take steamed baozi put them in steamer then cover it. +sub_tasks: +- subtask: Place the pot lid on the table with left gripper. + subtask_index: 0 +- subtask: Grasp the pot lid with left gripper. + subtask_index: 1 +- subtask: Place the pot lid on the steamer with left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Move the swap to the right with left gripper. + subtask_index: 4 +- subtask: Place the baozi on the steamer with right gripper. + subtask_index: 5 +- subtask: Grasp the baozi with right gripper. + subtask_index: 6 +- subtask: Place the baozi on the plate with right gripper. + subtask_index: 7 +- subtask: Move the swap to the left with right gripper. + subtask_index: 8 +- subtask: Grasp the baozi in the plate with right gripper. + subtask_index: 9 +- subtask: null. + subtask_index: 10 +atomic_actions: +- grasp +- place +- pick +robot_name: +- Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 41 + total_frames: 56015 + fps: 30 + total_tasks: 11 + total_videos: 123 + total_chunks: 1 + chunks_size: 1000 + state_dim: 49 + action_dim: 16 + camera_views: 3 + dataset_size: 1.12 GB +frame_num: 56015 +frame_range: 100K +dataset_size: 1.12 GB +data_structure: 'Galbot_g1_steamer_storage_baozi_j_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (29 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:40 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel.yaml new file mode 100644 index 0000000000000000000000000000000000000000..17ccd5c760958a30d42e88463a7b20def4473129 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel.yaml @@ -0,0 +1,574 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_box_storage_parcel +dataset_uuid: b6a8ebae-9a8f-44c4-a7a1-7893c558480b +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: parcel +- object_name: conveyor_belt +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the parcel from the conveyor to the table with the left gripper to box it. +sub_tasks: +- subtask: Grasp the package on the scanner with left gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: place the parcel inside the courier box. + subtask_index: 2 +- subtask: Place the parcel onto the inbound machine. + subtask_index: 3 +- subtask: Place the parcel into the delivery box. + subtask_index: 4 +- subtask: Grasp the package on the conveyor belt with right gripper. + subtask_index: 5 +- subtask: Place the package in the green box with left gripper. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: Pick up the parcel from the conveyor belt. + subtask_index: 8 +- subtask: pick up the parcel off the conveyor belt. + subtask_index: 9 +- subtask: Place the package on the scanner with right gripper. + subtask_index: 10 +- subtask: Pick up the parcel from the inbound machine. + subtask_index: 11 +- subtask: null. + subtask_index: 12 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 443 + total_frames: 537851 + fps: 30 + total_tasks: 13 + total_videos: 1329 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 27.23 GB +frame_num: 537851 +frame_range: 1M +dataset_size: 27.23 GB +data_structure: 'leju_robot_box_storage_parcel_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (431 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:442 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_a.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce8d492c3edfb0dfa3610760070ecbbd07a40b4e --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_a.yaml @@ -0,0 +1,559 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_box_storage_parcel_a +dataset_uuid: 58a31ae7-afbc-4d56-953d-6df89f8c1ba5 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: parcel +- object_name: conveyor_belt +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the parcel with the right gripper from the conveyor to the table. Then, move + the parcel to the left box with the left gripper. +sub_tasks: +- subtask: Place the package into the parcel locker. + subtask_index: 0 +- subtask: Pick up the package from the inbound machine. + subtask_index: 1 +- subtask: Pick up the package from the conveyor belt. + subtask_index: 2 +- subtask: Place the package onto the inbound machine. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 493 + total_frames: 189545 + fps: 30 + total_tasks: 5 + total_videos: 1479 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 9.71 GB +frame_num: 189545 +frame_range: 1M +dataset_size: 9.71 GB +data_structure: 'leju_robot_box_storage_parcel_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (481 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:492 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_b.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..982ddfa300d5e5f9fc1b1dc5b96e3e1b90acb882 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_b.yaml @@ -0,0 +1,559 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_box_storage_parcel_b +dataset_uuid: 5e55ad50-424b-4a78-9d00-e0d7a45f48f7 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: parcel +- object_name: conveyor_belt +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the parcel with the right gripper from the conveyor to the table. Then, move + the parcel to the left box with the left gripper. +sub_tasks: +- subtask: Place the package into the parcel locker. + subtask_index: 0 +- subtask: Pick up the package from the inbound machine. + subtask_index: 1 +- subtask: Pick up the package from the conveyor belt. + subtask_index: 2 +- subtask: Place the package onto the inbound machine. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 497 + total_frames: 186311 + fps: 30 + total_tasks: 5 + total_videos: 1491 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 9.52 GB +frame_num: 186311 +frame_range: 1M +dataset_size: 9.52 GB +data_structure: 'leju_robot_box_storage_parcel_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (485 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:496 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_c.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..544307e8b6118b2bd79226b899e85124a1d34113 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_c.yaml @@ -0,0 +1,559 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_box_storage_parcel_c +dataset_uuid: 3c05a32c-9807-467b-b1a5-2f7f3fe27928 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: parcel +- object_name: conveyor_belt +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the parcel with the right gripper from the conveyor to the table. Then, move + the parcel to the left box with the left gripper. +sub_tasks: +- subtask: Place the package onto the inbound machine. + subtask_index: 0 +- subtask: Place the package into the parcel locker. + subtask_index: 1 +- subtask: Pick up the package from the inbound machine. + subtask_index: 2 +- subtask: Pick up the package from the conveyor belt. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 493 + total_frames: 187995 + fps: 30 + total_tasks: 5 + total_videos: 1479 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 9.61 GB +frame_num: 187995 +frame_range: 1M +dataset_size: 9.61 GB +data_structure: 'leju_robot_box_storage_parcel_c_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (481 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:492 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_d.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_d.yaml new file mode 100644 index 0000000000000000000000000000000000000000..207060ef32b7e7bafa3826c393b16d077aebe24f --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_d.yaml @@ -0,0 +1,563 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_box_storage_parcel_d +dataset_uuid: a24f0c02-18b7-4770-8ed1-41d5db2ba6d8 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cleaner +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cleaner with the right gripper and pass it to the left gripper, then + place it on the table with the left gripper. +sub_tasks: +- subtask: Pass the laundry detergent to the left gripper. + subtask_index: 0 +- subtask: Pick up the fast-moving consumer goods bottle from the table. + subtask_index: 1 +- subtask: pick up the fast-moving consumer goods bottle from the table. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: Grasp the laundry detergent with right gripper. + subtask_index: 4 +- subtask: Place the laundry detergent on the yellow rubber mat with left gripper. + subtask_index: 5 +- subtask: Flip the fast-moving consumer goods bottle to the front side. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 212 + total_frames: 288956 + fps: 30 + total_tasks: 8 + total_videos: 636 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 17.99 GB +frame_num: 288956 +frame_range: 1M +dataset_size: 17.99 GB +data_structure: 'leju_robot_box_storage_parcel_d_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (200 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:211 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_f.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_f.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e9ee1712be06337a99f3f9d0226c2b1dc73de90d --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_f.yaml @@ -0,0 +1,558 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_box_storage_parcel_f +dataset_uuid: 52fd6211-f929-4608-b45d-501557f97fc8 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: parcel +- object_name: conveyor_belt +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the parcel from the conveyor to the table with the left gripper to box it. +sub_tasks: +- subtask: Place the package into the parcel locker. + subtask_index: 0 +- subtask: Pick up the package from the inbound machine. + subtask_index: 1 +- subtask: Pick up the package from the conveyor belt. + subtask_index: 2 +- subtask: Place the package onto the inbound machine. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 497 + total_frames: 185943 + fps: 30 + total_tasks: 5 + total_videos: 1491 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 9.51 GB +frame_num: 185943 +frame_range: 1M +dataset_size: 9.51 GB +data_structure: 'leju_robot_box_storage_parcel_f_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (485 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:496 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_g.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_g.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14e30e454121799287770f00cad3fbb4ca26823c --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_g.yaml @@ -0,0 +1,559 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_box_storage_parcel_g +dataset_uuid: 1b130f08-2c4e-4724-ad03-8ecda43684fd +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: parcel +- object_name: conveyor_belt +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the parcel with the right gripper from the conveyor to the table. Then, move + the parcel to the left box with the left gripper. +sub_tasks: +- subtask: Place the package into the parcel locker. + subtask_index: 0 +- subtask: Pick up the package from the inbound machine. + subtask_index: 1 +- subtask: Pick up the package from the conveyor belt. + subtask_index: 2 +- subtask: Place the package onto the inbound machine. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 492 + total_frames: 182793 + fps: 30 + total_tasks: 5 + total_videos: 1476 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 9.38 GB +frame_num: 182793 +frame_range: 1M +dataset_size: 9.38 GB +data_structure: 'leju_robot_box_storage_parcel_g_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (480 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:491 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_h.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_h.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b4340c7b51853847569f84b5e5bb8dfe45ce8c6e --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_h.yaml @@ -0,0 +1,559 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_box_storage_parcel_h +dataset_uuid: 6dd99999-811b-4ae1-aac2-7a5b81087eaa +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: parcel +- object_name: conveyor_belt +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the parcel with the right gripper from the conveyor to the table. Then, move + the parcel to the left box with the left gripper. +sub_tasks: +- subtask: Place the package into the parcel locker. + subtask_index: 0 +- subtask: Pick up the package from the inbound machine. + subtask_index: 1 +- subtask: Pick up the package from the conveyor belt. + subtask_index: 2 +- subtask: Place the package onto the inbound machine. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 389 + total_frames: 149279 + fps: 30 + total_tasks: 5 + total_videos: 1167 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 7.67 GB +frame_num: 149279 +frame_range: 1M +dataset_size: 7.67 GB +data_structure: 'leju_robot_box_storage_parcel_h_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (377 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:388 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_i.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_i.yaml new file mode 100644 index 0000000000000000000000000000000000000000..86cb920eea1e96a86e607b698105da30aa5e913a --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_i.yaml @@ -0,0 +1,556 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_box_storage_parcel_i +dataset_uuid: 6e0f6aaf-d447-436f-bfc3-bedd5a1bce04 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: parcel +- object_name: conveyor_belt +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the parcel from the conveyor to the table with the left gripper to box it. +sub_tasks: +- subtask: Pick up the bottle from the table. + subtask_index: 0 +- subtask: Flip the bottle to face forward. + subtask_index: 1 +- subtask: pick up the bottle from the table. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 222 + total_frames: 313461 + fps: 30 + total_tasks: 4 + total_videos: 666 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 19.35 GB +frame_num: 313461 +frame_range: 1M +dataset_size: 19.35 GB +data_structure: 'leju_robot_box_storage_parcel_i_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (210 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:221 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_j.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_j.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0771c9dbf1686ab5f75f9dedc5130196ff43ca61 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_j.yaml @@ -0,0 +1,555 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_box_storage_parcel_j +dataset_uuid: a9028fc5-d827-45d1-a2a9-31593becbf59 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cleaner +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cleaner with the right gripper and pass it to the left gripper, then + place it on the table with the left gripper. +sub_tasks: +- subtask: pick up the fast-moving consumer goods bottle from the table. + subtask_index: 0 +- subtask: Pick up the fast-moving consumer goods bottle from the table. + subtask_index: 1 +- subtask: Flip the fast-moving consumer goods bottle to the front side. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 226 + total_frames: 322063 + fps: 30 + total_tasks: 4 + total_videos: 678 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 20.02 GB +frame_num: 322063 +frame_range: 1M +dataset_size: 20.02 GB +data_structure: 'leju_robot_box_storage_parcel_j_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (214 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:225 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_hotel_services_a.yaml b/dataset_info/Leju_Kuavo_4_hotel_services_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eef94b2555eb768d8d604e84a277e1db9078181f --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_hotel_services_a.yaml @@ -0,0 +1,561 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_hotel_services_a +dataset_uuid: 3e695119-00a0-4747-9da8-d491e6035ee1 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: card +- object_name: box +- object_name: card_reader +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the identity card with the gripper and place it on the card reader. Pass + the identity card and room card to the human with the gripper. +sub_tasks: +- subtask: Hand the room key to the person. + subtask_index: 0 +- subtask: Place the ID card on the card reader. + subtask_index: 1 +- subtask: pick up the ID card from the person's hand. + subtask_index: 2 +- subtask: Pick up the room key from the key card box. + subtask_index: 3 +- subtask: Hand the ID card to the person. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 340 + total_frames: 234607 + fps: 30 + total_tasks: 6 + total_videos: 1020 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 15.65 GB +frame_num: 234607 +frame_range: 1M +dataset_size: 15.65 GB +data_structure: 'leju_robot_hotel_services_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (328 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:339 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_hotel_services_aa.yaml b/dataset_info/Leju_Kuavo_4_hotel_services_aa.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f0a1ac07e0610d4ba658e28b5e769425dbcfab63 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_hotel_services_aa.yaml @@ -0,0 +1,560 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_hotel_services_aa +dataset_uuid: dcd0025f-866e-4a2c-8898-6bf7dc424bc2 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: card +- object_name: box +- object_name: sensor +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the room card from the front box with the gripper and pass the room card. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: pick up out the room card with right gripper. + subtask_index: 1 +- subtask: Hand the room card to the guest with right gripper. + subtask_index: 2 +- subtask: Hand the room card to the target. + subtask_index: 3 +- subtask: Pick up the room card from the card holder. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 419 + total_frames: 70570 + fps: 30 + total_tasks: 6 + total_videos: 1257 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 4.52 GB +frame_num: 70570 +frame_range: 100K +dataset_size: 4.52 GB +data_structure: 'leju_robot_hotel_services_aa_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (407 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:418 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_hotel_services_ab.yaml b/dataset_info/Leju_Kuavo_4_hotel_services_ab.yaml new file mode 100644 index 0000000000000000000000000000000000000000..44d8764a97660cc6736176cbba816a316d43180c --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_hotel_services_ab.yaml @@ -0,0 +1,560 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_hotel_services_ab +dataset_uuid: e7a6fa76-d4ee-4f1a-b951-26d50fb71f0d +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: card +- object_name: box +- object_name: sensor +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the room card from the front box with the gripper and pass the room card. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: pick up out the room card with right gripper. + subtask_index: 1 +- subtask: Hand the room card to the guest with right gripper. + subtask_index: 2 +- subtask: Hand the room card to the target. + subtask_index: 3 +- subtask: Pick up the room card from the card holder. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 450 + total_frames: 81123 + fps: 30 + total_tasks: 6 + total_videos: 1350 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 5.16 GB +frame_num: 81123 +frame_range: 100K +dataset_size: 5.16 GB +data_structure: 'leju_robot_hotel_services_ab_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (438 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:449 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_hotel_services_ac.yaml b/dataset_info/Leju_Kuavo_4_hotel_services_ac.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1a7f3dfcaa9bd53d6762e7c77986a717df946e1f --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_hotel_services_ac.yaml @@ -0,0 +1,554 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_hotel_services_ac +dataset_uuid: ff64c171-6616-4c0a-9876-42719e539bbf +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: card +- object_name: box +- object_name: sensor +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the room card from the front box with the gripper and pass the room card. +sub_tasks: +- subtask: Pick up the key card from the card box. + subtask_index: 0 +- subtask: Hand the key card to the target. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 431 + total_frames: 73697 + fps: 30 + total_tasks: 3 + total_videos: 1293 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 4.71 GB +frame_num: 73697 +frame_range: 100K +dataset_size: 4.71 GB +data_structure: 'leju_robot_hotel_services_ac_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (419 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:430 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_hotel_services_ad.yaml b/dataset_info/Leju_Kuavo_4_hotel_services_ad.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1210b64522f60dcf15f585dc7a0c68b286d24359 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_hotel_services_ad.yaml @@ -0,0 +1,560 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_hotel_services_ad +dataset_uuid: 1bbfd926-a183-40a4-8649-0b9958b0ffcf +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: card +- object_name: box +- object_name: sensor +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the room card from the front box with the gripper and pass the room card. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: pick up out the room card with right gripper. + subtask_index: 1 +- subtask: Hand the room card to the guest with right gripper. + subtask_index: 2 +- subtask: Hand the room card to the target. + subtask_index: 3 +- subtask: Pick up the room card from the card holder. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 430 + total_frames: 73346 + fps: 30 + total_tasks: 6 + total_videos: 1290 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 4.70 GB +frame_num: 73346 +frame_range: 100K +dataset_size: 4.70 GB +data_structure: 'leju_robot_hotel_services_ad_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (418 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:429 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_hotel_services_ae.yaml b/dataset_info/Leju_Kuavo_4_hotel_services_ae.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eb12816bc183be223d0a48fbe20412bf3c64c393 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_hotel_services_ae.yaml @@ -0,0 +1,554 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_hotel_services_ae +dataset_uuid: 91537f29-b5ac-455f-bfdf-78d671e6f66d +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: card +- object_name: box +- object_name: sensor +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the room card from the front box with the gripper and pass the room card. +sub_tasks: +- subtask: Pick up the key card from the card box. + subtask_index: 0 +- subtask: Hand the key card to the target. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 449 + total_frames: 78394 + fps: 30 + total_tasks: 3 + total_videos: 1347 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 5.01 GB +frame_num: 78394 +frame_range: 100K +dataset_size: 5.01 GB +data_structure: 'leju_robot_hotel_services_ae_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (437 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:448 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_hotel_services_af.yaml b/dataset_info/Leju_Kuavo_4_hotel_services_af.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1a3d661b08da0c4985ba6897ef38779eb370c22d --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_hotel_services_af.yaml @@ -0,0 +1,554 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_hotel_services_af +dataset_uuid: 454ce503-1811-4c2a-9a2d-e6c284efa8e3 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: card +- object_name: box +- object_name: sensor +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the room card from the front box with the gripper and pass the room card. +sub_tasks: +- subtask: Pick up the key card from the card box. + subtask_index: 0 +- subtask: Hand the key card to the target. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 437 + total_frames: 77713 + fps: 30 + total_tasks: 3 + total_videos: 1311 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 4.93 GB +frame_num: 77713 +frame_range: 100K +dataset_size: 4.93 GB +data_structure: 'leju_robot_hotel_services_af_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (425 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:436 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_hotel_services_ag.yaml b/dataset_info/Leju_Kuavo_4_hotel_services_ag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..19dbdd65c7462f7b5ec18f774a2041f00608c152 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_hotel_services_ag.yaml @@ -0,0 +1,554 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_hotel_services_ag +dataset_uuid: fe6eebfa-58f5-4409-aad8-bc8aa39381cc +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: card +- object_name: box +- object_name: sensor +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the room card from the front box with the gripper and pass the room card. +sub_tasks: +- subtask: Pick up the key card from the card box. + subtask_index: 0 +- subtask: Hand the key card to the target. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 428 + total_frames: 72556 + fps: 30 + total_tasks: 3 + total_videos: 1284 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 4.62 GB +frame_num: 72556 +frame_range: 100K +dataset_size: 4.62 GB +data_structure: 'leju_robot_hotel_services_ag_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (416 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:427 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_hotel_services_ah.yaml b/dataset_info/Leju_Kuavo_4_hotel_services_ah.yaml new file mode 100644 index 0000000000000000000000000000000000000000..66faefa49907319cbe44c3e5cbf8f877878cd5e7 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_hotel_services_ah.yaml @@ -0,0 +1,555 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_hotel_services_ah +dataset_uuid: d6db4bde-0fc4-4f4c-b80a-f12034b9d043 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: card +- object_name: box +- object_name: sensor +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the card with the gripper, place it on the sensor for recognition, and then + transfer it. +sub_tasks: +- subtask: Pick up the key card from the card box. + subtask_index: 0 +- subtask: Hand the key card to the target. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 44 + total_frames: 8145 + fps: 30 + total_tasks: 3 + total_videos: 132 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 542.60 MB +frame_num: 8145 +frame_range: 10K +dataset_size: 542.60 MB +data_structure: 'leju_robot_hotel_services_ah_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (32 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:43 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_hotel_services_b.yaml b/dataset_info/Leju_Kuavo_4_hotel_services_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f2d45e369a2a729c98d6b48857c4b56cd755c219 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_hotel_services_b.yaml @@ -0,0 +1,561 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_hotel_services_b +dataset_uuid: 1652000d-29c5-40d4-9d8d-3198ed81edbb +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: card +- object_name: box +- object_name: card_reader +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the identity card with the gripper and place it on the card reader. Pass + the identity card and room card to the human with the gripper. +sub_tasks: +- subtask: Hand the room key to the person. + subtask_index: 0 +- subtask: Place the ID card on the card reader. + subtask_index: 1 +- subtask: pick up the ID card from the person's hand. + subtask_index: 2 +- subtask: Pick up the room key from the key card box. + subtask_index: 3 +- subtask: Hand the ID card to the person. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 288 + total_frames: 209703 + fps: 30 + total_tasks: 6 + total_videos: 864 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 13.96 GB +frame_num: 209703 +frame_range: 1M +dataset_size: 13.96 GB +data_structure: 'leju_robot_hotel_services_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (276 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:287 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_hotel_services_c.yaml b/dataset_info/Leju_Kuavo_4_hotel_services_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2f22b9e3ba02004ba818db115ba090dba6ce3b59 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_hotel_services_c.yaml @@ -0,0 +1,561 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_hotel_services_c +dataset_uuid: 6caaa6a8-f638-4f21-89e1-89725c297ba7 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: card +- object_name: box +- object_name: card reader +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the identity card with the gripper and place it on the card reader. Pass + the identity card and room card to the human with the gripper. +sub_tasks: +- subtask: Hand the room key to the person. + subtask_index: 0 +- subtask: Place the ID card on the card reader. + subtask_index: 1 +- subtask: pick up the ID card from the person's hand. + subtask_index: 2 +- subtask: Pick up the room key from the key card box. + subtask_index: 3 +- subtask: Hand the ID card to the person. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 334 + total_frames: 235148 + fps: 30 + total_tasks: 6 + total_videos: 1002 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 15.55 GB +frame_num: 235148 +frame_range: 1M +dataset_size: 15.55 GB +data_structure: 'leju_robot_hotel_services_c_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (322 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:333 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_hotel_services_d.yaml b/dataset_info/Leju_Kuavo_4_hotel_services_d.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e9020d75259a0f94e7cb59f33c1ccc5919f47666 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_hotel_services_d.yaml @@ -0,0 +1,561 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_hotel_services_d +dataset_uuid: 83fb3fa9-72ea-4860-a22f-c6a5a597df39 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: card +- object_name: box +- object_name: card_reader +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the identity card with the gripper and place it on the card reader. Pass + the identity card and room card to the human with the gripper. +sub_tasks: +- subtask: Hand the room key to the person. + subtask_index: 0 +- subtask: Place the ID card on the card reader. + subtask_index: 1 +- subtask: pick up the ID card from the person's hand. + subtask_index: 2 +- subtask: Pick up the room key from the key card box. + subtask_index: 3 +- subtask: Hand the ID card to the person. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 324 + total_frames: 224505 + fps: 30 + total_tasks: 6 + total_videos: 972 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 15.08 GB +frame_num: 224505 +frame_range: 1M +dataset_size: 15.08 GB +data_structure: 'leju_robot_hotel_services_d_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (312 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:323 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_hotel_services_e.yaml b/dataset_info/Leju_Kuavo_4_hotel_services_e.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3ded130254b01166327e69225b7b52bb603bc9f8 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_hotel_services_e.yaml @@ -0,0 +1,561 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_hotel_services_e +dataset_uuid: 4d57f5ee-7850-4fb4-8532-415c1821c756 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: card +- object_name: box +- object_name: card_reader +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the identity card with the gripper and place it on the card reader. Pass + the identity card and room card to the human with the gripper. +sub_tasks: +- subtask: Hand the room key to the person. + subtask_index: 0 +- subtask: Place the ID card on the card reader. + subtask_index: 1 +- subtask: pick up the ID card from the person's hand. + subtask_index: 2 +- subtask: Pick up the room key from the key card box. + subtask_index: 3 +- subtask: Hand the ID card to the person. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 309 + total_frames: 212885 + fps: 30 + total_tasks: 6 + total_videos: 927 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 14.18 GB +frame_num: 212885 +frame_range: 1M +dataset_size: 14.18 GB +data_structure: 'leju_robot_hotel_services_e_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (297 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:308 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_hotel_services_f.yaml b/dataset_info/Leju_Kuavo_4_hotel_services_f.yaml new file mode 100644 index 0000000000000000000000000000000000000000..89b46c47ec41d0abcd504c727c21acdd6642b933 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_hotel_services_f.yaml @@ -0,0 +1,561 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_hotel_services_f +dataset_uuid: 9c2a5a4c-c510-4e80-983e-593589a8eec6 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: card +- object_name: box +- object_name: card_reader +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the identity card with the gripper and place it on the card reader. Pass + the identity card and room card to the human with the gripper. +sub_tasks: +- subtask: Hand the room key to the person. + subtask_index: 0 +- subtask: Place the ID card on the card reader. + subtask_index: 1 +- subtask: pick up the ID card from the person's hand. + subtask_index: 2 +- subtask: Pick up the room key from the key card box. + subtask_index: 3 +- subtask: Hand the ID card to the person. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 135 + total_frames: 95863 + fps: 30 + total_tasks: 6 + total_videos: 405 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 6.31 GB +frame_num: 95863 +frame_range: 100K +dataset_size: 6.31 GB +data_structure: 'leju_robot_hotel_services_f_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (123 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:134 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_hotel_services_h.yaml b/dataset_info/Leju_Kuavo_4_hotel_services_h.yaml new file mode 100644 index 0000000000000000000000000000000000000000..78ad8647d7e2865cc2f9ffb612f18b81795e0991 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_hotel_services_h.yaml @@ -0,0 +1,490 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_hotel_services_h +dataset_uuid: c14b0609-dd8c-4b81-9f81-e1d77b899e9e +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: card +- object_name: box +- object_name: sensor +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the card with the gripper, place it on the sensor for recognition, and then + transfer it. +sub_tasks: +- subtask: Hand the key card to the target. + subtask_index: 0 +- subtask: Pick up the key card from the card box. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 205 + total_frames: 35880 + fps: 30 + total_tasks: 3 + total_videos: 615 + total_chunks: 1 + chunks_size: 1000 + state_dim: 54 + action_dim: 54 + camera_views: 3 + dataset_size: 2.30 GB +frame_num: 35880 +frame_range: 100K +dataset_size: 2.30 GB +data_structure: 'leju_robot_hotel_services_h_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (193 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:204 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_hotel_services_i.yaml b/dataset_info/Leju_Kuavo_4_hotel_services_i.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95228aeb696d6a9da1c3c2fafc2b449592000bcd --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_hotel_services_i.yaml @@ -0,0 +1,495 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_hotel_services_i +dataset_uuid: fc45ac73-e09b-491e-9dc0-71c8c532f0a7 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: card +- object_name: box +- object_name: sensor +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the room card from the front box with the gripper and pass the room card. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: pick up out the room card with right gripper. + subtask_index: 1 +- subtask: Hand the room card to the guest with right gripper. + subtask_index: 2 +- subtask: Hand the room card to the target. + subtask_index: 3 +- subtask: Pick up the room card from the card holder. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 189 + total_frames: 33547 + fps: 30 + total_tasks: 6 + total_videos: 567 + total_chunks: 1 + chunks_size: 1000 + state_dim: 54 + action_dim: 54 + camera_views: 3 + dataset_size: 2.13 GB +frame_num: 33547 +frame_range: 100K +dataset_size: 2.13 GB +data_structure: 'leju_robot_hotel_services_i_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (177 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:188 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_a.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..68537f101d10dd43dc4f197a65ff6cdca20eb4aa --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_a.yaml @@ -0,0 +1,574 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_a +dataset_uuid: e595bb4f-5c6e-4271-9364-10c9f3f695b0 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts from the cabinet with the gripper and place them on the table + with the gripper. +sub_tasks: +- subtask: Grasp the gray part with right gripper. + subtask_index: 0 +- subtask: Move to the table behind body. + subtask_index: 1 +- subtask: Grasp the white part with right gripper. + subtask_index: 2 +- subtask: Grasp the white part with left gripper. + subtask_index: 3 +- subtask: Place the gray part on the table with right gripper. + subtask_index: 4 +- subtask: Place the white part on the table with left gripper. + subtask_index: 5 +- subtask: Place the white part on the table with right gripper. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: Move to the initial position at the workbench. + subtask_index: 8 +- subtask: Insert the small parts into the corresponding holes on the workbench. + subtask_index: 9 +- subtask: Pick up the small parts from the shelf. + subtask_index: 10 +- subtask: Move the small parts to the workbench. + subtask_index: 11 +- subtask: null. + subtask_index: 12 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 380 + total_frames: 557980 + fps: 30 + total_tasks: 13 + total_videos: 1140 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 34.16 GB +frame_num: 557980 +frame_range: 1M +dataset_size: 34.16 GB +data_structure: 'leju_robot_moving_parts_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (368 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:379 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_b.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5f652b22e4fd7dea6a612e3b0956bdc874b97a80 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_b.yaml @@ -0,0 +1,568 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_b +dataset_uuid: b23f0a82-6d8f-4f98-b818-5e10125816cc +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts from the cabinet with the gripper and move them to the table. + Then place the parts on the table with the gripper. +sub_tasks: +- subtask: Insert the small parts into the corresponding holes on the workbench. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the white part on the table with left gripper. + subtask_index: 2 +- subtask: Grasp the white part with left gripper. + subtask_index: 3 +- subtask: Move the small parts to the workbench. + subtask_index: 4 +- subtask: Move to the table behind body. + subtask_index: 5 +- subtask: pick up small components from the rack. + subtask_index: 6 +- subtask: Pick up small parts from the shelf. + subtask_index: 7 +- subtask: Move to the initial position of the workbench. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 490 + total_frames: 708011 + fps: 30 + total_tasks: 10 + total_videos: 1470 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 43.26 GB +frame_num: 708011 +frame_range: 1M +dataset_size: 43.26 GB +data_structure: 'leju_robot_moving_parts_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (478 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:489 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_c.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4cfd07d4a2b2f0bc590bc2abe492051ab462a2b7 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_c.yaml @@ -0,0 +1,574 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_c +dataset_uuid: 7aa945d0-afcc-41a9-bc85-6d19914ec42d +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts from the cabinet with the gripper and move them to the table. + Then place the parts on the table with the gripper. +sub_tasks: +- subtask: Place the white part on the table with left gripper. + subtask_index: 0 +- subtask: Grasp the white part with left gripper. + subtask_index: 1 +- subtask: Place the gray part on the table with right gripper. + subtask_index: 2 +- subtask: Grasp the gray part with right gripper. + subtask_index: 3 +- subtask: End. + subtask_index: 4 +- subtask: Return to the initial position at the workbench. + subtask_index: 5 +- subtask: Move the small component to the workbench. + subtask_index: 6 +- subtask: Place the white part on the table with right gripper. + subtask_index: 7 +- subtask: Insert the small component into the corresponding slot on the workbench. + subtask_index: 8 +- subtask: Pick up the small component from the shelf. + subtask_index: 9 +- subtask: Move to the table behind body. + subtask_index: 10 +- subtask: Grasp the white part with right gripper. + subtask_index: 11 +- subtask: null. + subtask_index: 12 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 490 + total_frames: 716756 + fps: 30 + total_tasks: 13 + total_videos: 1470 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 43.96 GB +frame_num: 716756 +frame_range: 1M +dataset_size: 43.96 GB +data_structure: 'leju_robot_moving_parts_c_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (478 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:489 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_f.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_f.yaml new file mode 100644 index 0000000000000000000000000000000000000000..440405d96db14b30b62fa532a240e5d06f6a1ae5 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_f.yaml @@ -0,0 +1,576 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_f +dataset_uuid: b51f42cb-0020-403b-b1c0-c4cc99f2190a +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts from the cabinet with the gripper and move them to the table. + Then place the parts on the table with the gripper. +sub_tasks: +- subtask: Place the white part on the table with left gripper. + subtask_index: 0 +- subtask: Grasp the white part with left gripper. + subtask_index: 1 +- subtask: Place the gray part on the table with right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Return to the initial position at the workbench. + subtask_index: 4 +- subtask: Move the small component to the workbench. + subtask_index: 5 +- subtask: Abnormal. + subtask_index: 6 +- subtask: Place the white part on the table with right gripper. + subtask_index: 7 +- subtask: Insert the small component into the corresponding slot on the workbench. + subtask_index: 8 +- subtask: Pick up the small component from the shelf. + subtask_index: 9 +- subtask: Grasp the gray part with right gripper. + subtask_index: 10 +- subtask: Move to the table behind body. + subtask_index: 11 +- subtask: Grasp the white part with right gripper. + subtask_index: 12 +- subtask: null. + subtask_index: 13 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 489 + total_frames: 716938 + fps: 30 + total_tasks: 14 + total_videos: 1467 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 44.24 GB +frame_num: 716938 +frame_range: 1M +dataset_size: 44.24 GB +data_structure: 'leju_robot_moving_parts_f_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (477 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:488 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_g.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_g.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2958d671a9a37ce08166f9da9830d94efe0db512 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_g.yaml @@ -0,0 +1,570 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_g +dataset_uuid: 4e06a288-ac8c-4c85-a86b-027159d4add0 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts from the cabinet with the gripper and place them on the table + with the gripper. +sub_tasks: +- subtask: Insert the small component into the corresponding slot on the workbench. + subtask_index: 0 +- subtask: Move to the table behind body. + subtask_index: 1 +- subtask: Grasp the white part with right gripper. + subtask_index: 2 +- subtask: Move the small component to the workbench. + subtask_index: 3 +- subtask: Place the white part on the table with left gripper. + subtask_index: 4 +- subtask: Place the white part on the table with right gripper. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: Pick up the small component from the shelf. + subtask_index: 7 +- subtask: Return to the initial position at the workbench. + subtask_index: 8 +- subtask: Grasp the white part with left gripper. + subtask_index: 9 +- subtask: null. + subtask_index: 10 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 157 + total_frames: 225345 + fps: 30 + total_tasks: 11 + total_videos: 471 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 13.78 GB +frame_num: 225345 +frame_range: 1M +dataset_size: 13.78 GB +data_structure: 'leju_robot_moving_parts_g_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (145 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:156 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_h.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_h.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b3a5bf44833460531200964a5403e212327485b1 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_h.yaml @@ -0,0 +1,572 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_h +dataset_uuid: 27a39264-c303-45a1-9046-1419479116fb +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts from the cabinet with the gripper and place them on the table + with the gripper. +sub_tasks: +- subtask: Grasp the gray part with right gripper. + subtask_index: 0 +- subtask: Insert the small component into the corresponding slot on the workbench. + subtask_index: 1 +- subtask: Move to the table behind body. + subtask_index: 2 +- subtask: Grasp the white part with right gripper. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Move the small component to the workbench. + subtask_index: 5 +- subtask: Place the gray part on the table with right gripper. + subtask_index: 6 +- subtask: Place the white part on the table with right gripper. + subtask_index: 7 +- subtask: End. + subtask_index: 8 +- subtask: Pick up the small component from the shelf. + subtask_index: 9 +- subtask: Return to the initial position at the workbench. + subtask_index: 10 +- subtask: null. + subtask_index: 11 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 162 + total_frames: 234391 + fps: 30 + total_tasks: 12 + total_videos: 486 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 14.45 GB +frame_num: 234391 +frame_range: 1M +dataset_size: 14.45 GB +data_structure: 'leju_robot_moving_parts_h_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (150 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:161 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_i.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_i.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f7ebd1289e71b2fd3489956831e219a5fd6acd4f --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_i.yaml @@ -0,0 +1,570 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_i +dataset_uuid: c8b01b9f-9806-4a5a-a895-01df2cac436f +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts from the cabinet with the gripper and place them on the table + with the gripper. +sub_tasks: +- subtask: Move to the initial position of the workbench. + subtask_index: 0 +- subtask: Grasp the gray part with right gripper. + subtask_index: 1 +- subtask: Insert the small component into the corresponding slot on the workbench. + subtask_index: 2 +- subtask: Move to the table behind body. + subtask_index: 3 +- subtask: Grasp the white part with right gripper. + subtask_index: 4 +- subtask: Place the gray part on the table with right gripper. + subtask_index: 5 +- subtask: Place the white part on the table with right gripper. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: Pick up the small component from the shelf. + subtask_index: 8 +- subtask: Bring the small component to the front of the workbench. + subtask_index: 9 +- subtask: null. + subtask_index: 10 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 155 + total_frames: 229727 + fps: 30 + total_tasks: 11 + total_videos: 465 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 14.03 GB +frame_num: 229727 +frame_range: 1M +dataset_size: 14.03 GB +data_structure: 'leju_robot_moving_parts_i_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (143 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:154 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_j.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_j.yaml new file mode 100644 index 0000000000000000000000000000000000000000..181b7c8d075ba1141f065daa13f1aaba1d559a41 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_j.yaml @@ -0,0 +1,570 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_j +dataset_uuid: a7584581-99dc-4ffb-bc23-e846841a55b7 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts from the cabinet with the gripper and place them on the table + with the gripper. +sub_tasks: +- subtask: Move to the initial position of the workbench. + subtask_index: 0 +- subtask: Grasp the gray part with right gripper. + subtask_index: 1 +- subtask: Insert the small component into the corresponding slot on the workbench. + subtask_index: 2 +- subtask: Move to the table behind body. + subtask_index: 3 +- subtask: Grasp the white part with right gripper. + subtask_index: 4 +- subtask: Place the gray part on the table with right gripper. + subtask_index: 5 +- subtask: Place the white part on the table with right gripper. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: Pick up the small component from the shelf. + subtask_index: 8 +- subtask: Bring the small component to the front of the workbench. + subtask_index: 9 +- subtask: null. + subtask_index: 10 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 153 + total_frames: 223023 + fps: 30 + total_tasks: 11 + total_videos: 459 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 13.91 GB +frame_num: 223023 +frame_range: 1M +dataset_size: 13.91 GB +data_structure: 'leju_robot_moving_parts_j_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (141 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:152 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_k.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_k.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e7a89a99bf28b49302f095cd3b2c5d43086acd2 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_k.yaml @@ -0,0 +1,566 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_k +dataset_uuid: 062231be-de5e-4cef-b404-096085be3e9e +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts from the cabinet with the gripper and move them to the table. + Then place the parts on the table with the gripper. +sub_tasks: +- subtask: Pick up the small component from the shelf. + subtask_index: 0 +- subtask: Grasp the white part with right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Move to the initial position at the workbench. + subtask_index: 3 +- subtask: Insert the small component into the corresponding slot on the workbench. + subtask_index: 4 +- subtask: Place the white part on the table with right gripper. + subtask_index: 5 +- subtask: Move to the table behind body. + subtask_index: 6 +- subtask: Move the small component to the workbench. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 329 + total_frames: 468307 + fps: 30 + total_tasks: 9 + total_videos: 987 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 28.41 GB +frame_num: 468307 +frame_range: 1M +dataset_size: 28.41 GB +data_structure: 'leju_robot_moving_parts_k_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (317 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:328 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_m.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_m.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ca49ae25a461b304b24f85618d57f27b4af7606f --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_m.yaml @@ -0,0 +1,566 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_m +dataset_uuid: fb9bf451-cf8b-4da5-b5c1-13529609f049 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts from the cabinet with the gripper and place them on the table + with the gripper. +sub_tasks: +- subtask: Place the black part on the table with right gripper. + subtask_index: 0 +- subtask: Pick up the large material from the shelf. + subtask_index: 1 +- subtask: Insert the large material into the corresponding slot on the workbench. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Grasp the black part with right gripper. + subtask_index: 4 +- subtask: Move the large material to the workbench. + subtask_index: 5 +- subtask: Move to the initial position of the shelf. + subtask_index: 6 +- subtask: Move to the table behind body. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 490 + total_frames: 742399 + fps: 30 + total_tasks: 9 + total_videos: 1470 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 50.85 GB +frame_num: 742399 +frame_range: 1M +dataset_size: 50.85 GB +data_structure: 'leju_robot_moving_parts_m_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (478 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:489 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_n.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_n.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91292e38d98bbd6e2187b40e843fe2c274ba3807 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_n.yaml @@ -0,0 +1,566 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_n +dataset_uuid: 45be2265-aabd-465a-ba72-7ad2a60ed23e +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts from the cabinet with the gripper and move them to the table. + Then place the parts on the table with the gripper. +sub_tasks: +- subtask: Place the black part on the table with right gripper. + subtask_index: 0 +- subtask: Pick up the large material from the shelf. + subtask_index: 1 +- subtask: Insert the large material into the corresponding slot on the workbench. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Grasp the black part with right gripper. + subtask_index: 4 +- subtask: Move the large material to the workbench. + subtask_index: 5 +- subtask: Move to the initial position of the shelf. + subtask_index: 6 +- subtask: Move to the table behind body. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 492 + total_frames: 738613 + fps: 30 + total_tasks: 9 + total_videos: 1476 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 50.97 GB +frame_num: 738613 +frame_range: 1M +dataset_size: 50.97 GB +data_structure: 'leju_robot_moving_parts_n_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (480 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:491 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_o.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_o.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db8d09fbbd1bd134892cecb2772ca7a90380e1d8 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_o.yaml @@ -0,0 +1,566 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_o +dataset_uuid: 27cad5ab-323b-4157-acc6-9f7405263110 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts from the cabinet with the gripper and place them on the table + with the gripper. +sub_tasks: +- subtask: Return to the initial position at the shelf. + subtask_index: 0 +- subtask: Grasp the black part with right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Pick up the large material from the shelf. + subtask_index: 3 +- subtask: Place the black part on the table with right gripper. + subtask_index: 4 +- subtask: Move to the table behind body. + subtask_index: 5 +- subtask: Move the large material to the workbench. + subtask_index: 6 +- subtask: Insert the large material into the corresponding slot on the workbench. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 490 + total_frames: 745064 + fps: 30 + total_tasks: 9 + total_videos: 1470 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 51.12 GB +frame_num: 745064 +frame_range: 1M +dataset_size: 51.12 GB +data_structure: 'leju_robot_moving_parts_o_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (478 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:489 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_q.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_q.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fc6eed01b79caaf468dd84a1c3613f59833c1bbf --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_q.yaml @@ -0,0 +1,566 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_q +dataset_uuid: 1632a2f6-2fac-45cf-b9d6-7088ebda0870 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts from the cabinet with the gripper and move them to the table. + Then place the parts on the table with the gripper. +sub_tasks: +- subtask: Place the black part on the table with right gripper. + subtask_index: 0 +- subtask: Pick up the large material from the shelf. + subtask_index: 1 +- subtask: Insert the large material into the corresponding slot on the workbench. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Grasp the black part with right gripper. + subtask_index: 4 +- subtask: Move the large material to the workbench. + subtask_index: 5 +- subtask: Move to the initial position of the shelf. + subtask_index: 6 +- subtask: Move to the table behind body. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 494 + total_frames: 756932 + fps: 30 + total_tasks: 9 + total_videos: 1482 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 51.86 GB +frame_num: 756932 +frame_range: 1M +dataset_size: 51.86 GB +data_structure: 'leju_robot_moving_parts_q_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (482 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:493 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_r.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_r.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4f33555c03816eabd8b607f8e53afa730df73be4 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_r.yaml @@ -0,0 +1,566 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_r +dataset_uuid: ee9fa92f-ba5e-4973-ab0f-b16bc5e31efe +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts from the cabinet with the gripper and move them to the table. + Then place the parts on the table with the gripper. +sub_tasks: +- subtask: Place the black part on the table with right gripper. + subtask_index: 0 +- subtask: Pick up the large material from the shelf. + subtask_index: 1 +- subtask: Insert the large material into the corresponding slot on the workbench. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Grasp the black part with right gripper. + subtask_index: 4 +- subtask: Move the large material to the workbench. + subtask_index: 5 +- subtask: Move to the initial position of the shelf. + subtask_index: 6 +- subtask: Move to the table behind body. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 495 + total_frames: 775023 + fps: 30 + total_tasks: 9 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 53.36 GB +frame_num: 775023 +frame_range: 1M +dataset_size: 53.36 GB +data_structure: 'leju_robot_moving_parts_r_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (483 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:494 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_s.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_s.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f4d0cb7cee851d23656390fdb42cd41b037efbaf --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_s.yaml @@ -0,0 +1,568 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_s +dataset_uuid: 4f3b96f0-482a-45ca-9176-d8cdf62101c7 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts from the cabinet with the gripper and place them on the table + with the gripper. +sub_tasks: +- subtask: Return to the initial position at the shelf. + subtask_index: 0 +- subtask: Grasp the black part with right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: Pick up the large material from the shelf. + subtask_index: 4 +- subtask: Place the black part on the table with right gripper. + subtask_index: 5 +- subtask: Move to the table behind body. + subtask_index: 6 +- subtask: Move the large material to the workbench. + subtask_index: 7 +- subtask: Insert the large material into the corresponding slot on the workbench. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 495 + total_frames: 776972 + fps: 30 + total_tasks: 10 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 53.84 GB +frame_num: 776972 +frame_range: 1M +dataset_size: 53.84 GB +data_structure: 'leju_robot_moving_parts_s_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (483 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:494 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_t.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_t.yaml new file mode 100644 index 0000000000000000000000000000000000000000..22fc0e250fec9fd7f690b21f5871c236891b03fc --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_t.yaml @@ -0,0 +1,558 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_t +dataset_uuid: 5056a5a3-f4a2-42af-895f-9a477a499c11 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts from the cabinet with the gripper and place them on the table + with the gripper. +sub_tasks: +- subtask: Move to the initial position of the shelf. + subtask_index: 0 +- subtask: Pick up the large material from the shelf. + subtask_index: 1 +- subtask: Insert the large material into the corresponding hole on the workbench. + subtask_index: 2 +- subtask: Move the large material to the front of the workbench. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 493 + total_frames: 778671 + fps: 30 + total_tasks: 5 + total_videos: 1479 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 53.83 GB +frame_num: 778671 +frame_range: 1M +dataset_size: 53.83 GB +data_structure: 'leju_robot_moving_parts_t_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (481 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:492 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_u.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_u.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6db111c14bb515cabf205e2ece313c3c4b312eb1 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_u.yaml @@ -0,0 +1,566 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_u +dataset_uuid: 5138770c-0dd3-4a50-a8a2-efa57aabc3e9 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts from the cabinet with the gripper and move them to the table. + Then place the parts on the table with the gripper. +sub_tasks: +- subtask: Place the black part on the table with right gripper. + subtask_index: 0 +- subtask: Pick up the large material from the shelf. + subtask_index: 1 +- subtask: Insert the large material into the corresponding slot on the workbench. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Grasp the black part with right gripper. + subtask_index: 4 +- subtask: Move the large material to the workbench. + subtask_index: 5 +- subtask: Move to the initial position of the shelf. + subtask_index: 6 +- subtask: Move to the table behind body. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 149345 + fps: 30 + total_tasks: 9 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 10.36 GB +frame_num: 149345 +frame_range: 1M +dataset_size: 10.36 GB +data_structure: 'leju_robot_moving_parts_u_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_part_placement.yaml b/dataset_info/Leju_Kuavo_4_part_placement.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8f8d147971c08bde3b44ff38be53645ca868b57f --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_part_placement.yaml @@ -0,0 +1,578 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_part_placement +dataset_uuid: 41b426f1-987c-4320-8263-5f89139cf899 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cabinet +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the part from the front cabinet with the gripper, rotate it around, and + place it on the part at the back table with the gripper. +sub_tasks: +- subtask: Insert the small parts into the corresponding slots on the workbench. + subtask_index: 0 +- subtask: Move the large parts to the workbench. + subtask_index: 1 +- subtask: Pick up the large parts from the shelf. + subtask_index: 2 +- subtask: Grasp the black part with right gripper. + subtask_index: 3 +- subtask: Grasp the gray part with right gripper. + subtask_index: 4 +- subtask: End. + subtask_index: 5 +- subtask: Return to the initial position at the workbench. + subtask_index: 6 +- subtask: Place the gray part on the table with right gripper. + subtask_index: 7 +- subtask: Place the black part on the table with right gripper. + subtask_index: 8 +- subtask: Move to the table behind body. + subtask_index: 9 +- subtask: Insert the large parts into the corresponding slots on the workbench. + subtask_index: 10 +- subtask: Return to the initial position at the shelf. + subtask_index: 11 +- subtask: Move the small parts to the workbench. + subtask_index: 12 +- subtask: Pick up the small parts from the shelf. + subtask_index: 13 +- subtask: null. + subtask_index: 14 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 538 + total_frames: 796570 + fps: 30 + total_tasks: 15 + total_videos: 1614 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 50.45 GB +frame_num: 796570 +frame_range: 1M +dataset_size: 50.45 GB +data_structure: 'leju_robot_part_placement_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (526 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:537 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_pass_the_cleaner_a.yaml b/dataset_info/Leju_Kuavo_4_pass_the_cleaner_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c044322248080ae1ed484028f09afe32acd3580f --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_pass_the_cleaner_a.yaml @@ -0,0 +1,553 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_pass_the_cleaner_a +dataset_uuid: 870e2a78-0b89-486a-bed4-12863a5b00d6 +scene_type: + level1: household + level2: factory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cleaner +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cleaner with the right gripper and pass it to the left gripper, then + place it on the table with the left gripper. +sub_tasks: +- subtask: rotate the bottle to the front side. + subtask_index: 0 +- subtask: Pick up the bottle from the table. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 457 + total_frames: 169467 + fps: 30 + total_tasks: 3 + total_videos: 1371 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 8.73 GB +frame_num: 169467 +frame_range: 1M +dataset_size: 8.73 GB +data_structure: 'leju_robot_pass_the_cleaner_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (445 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:456 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_pass_the_cleaner_b.yaml b/dataset_info/Leju_Kuavo_4_pass_the_cleaner_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..491c5496649b13938ddadbeb52c21407660fa156 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_pass_the_cleaner_b.yaml @@ -0,0 +1,553 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_pass_the_cleaner_b +dataset_uuid: ceb2e30d-5b33-4f0f-b9e0-a88ee69d8e21 +scene_type: + level1: household + level2: factory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cleaner +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cleaner with the right gripper and pass it to the left gripper, then + place it on the table with the left gripper. +sub_tasks: +- subtask: rotate the bottle to the front side. + subtask_index: 0 +- subtask: Pick up the bottle from the table. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 441 + total_frames: 164222 + fps: 30 + total_tasks: 3 + total_videos: 1323 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 8.46 GB +frame_num: 164222 +frame_range: 1M +dataset_size: 8.46 GB +data_structure: 'leju_robot_pass_the_cleaner_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (429 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:440 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_pass_the_cleaner_c.yaml b/dataset_info/Leju_Kuavo_4_pass_the_cleaner_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..82e9629a7224e89f79f36c8454bdf93ba59613e9 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_pass_the_cleaner_c.yaml @@ -0,0 +1,553 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_pass_the_cleaner_c +dataset_uuid: 3cc917ac-539a-404f-be76-b82846c01668 +scene_type: + level1: household + level2: factory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cleaner +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cleaner with the right gripper and pass it to the left gripper, then + place it on the table with the left gripper. +sub_tasks: +- subtask: rotate the bottle to the front side. + subtask_index: 0 +- subtask: Pick up the bottle from the table. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 444 + total_frames: 162075 + fps: 30 + total_tasks: 3 + total_videos: 1332 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 8.35 GB +frame_num: 162075 +frame_range: 1M +dataset_size: 8.35 GB +data_structure: 'leju_robot_pass_the_cleaner_c_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (432 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:443 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_pass_the_cleaner_d.yaml b/dataset_info/Leju_Kuavo_4_pass_the_cleaner_d.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3c003c947bd2fa561d20030d6e821410593988bb --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_pass_the_cleaner_d.yaml @@ -0,0 +1,553 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_pass_the_cleaner_d +dataset_uuid: d1843bc1-83c4-4c84-8c34-c6740a7e82a9 +scene_type: + level1: household + level2: factory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cleaner +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cleaner with the right gripper and pass it to the left gripper, then + place it on the table with the left gripper. +sub_tasks: +- subtask: rotate the bottle to the front side. + subtask_index: 0 +- subtask: Pick up the bottle from the table. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 451 + total_frames: 168676 + fps: 30 + total_tasks: 3 + total_videos: 1353 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 8.70 GB +frame_num: 168676 +frame_range: 1M +dataset_size: 8.70 GB +data_structure: 'leju_robot_pass_the_cleaner_d_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (439 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:450 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_pass_the_cleaner_e.yaml b/dataset_info/Leju_Kuavo_4_pass_the_cleaner_e.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bb450d9da5b54d6410de88ccd897dbb0c8db6bad --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_pass_the_cleaner_e.yaml @@ -0,0 +1,553 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_pass_the_cleaner_e +dataset_uuid: 5857e16d-9974-4991-a27c-549f3ba35f03 +scene_type: + level1: household + level2: factory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cleaner +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cleaner with the right gripper and pass it to the left gripper, then + place it on the table with the left gripper. +sub_tasks: +- subtask: rotate the bottle to the front side. + subtask_index: 0 +- subtask: Pick up the bottle from the table. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- camera_head_rgb +- camera_left_wrist_rgb +- camera_right_wrist_rgb +came_info: + camera_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, pix_fmt=yuv420p + camera_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + camera_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 430 + total_frames: 165558 + fps: 30 + total_tasks: 3 + total_videos: 1290 + total_chunks: 1 + chunks_size: 1000 + state_dim: 118 + action_dim: 54 + camera_views: 3 + dataset_size: 8.55 GB +frame_num: 165558 +frame_range: 1M +dataset_size: 8.55 GB +data_structure: 'leju_robot_pass_the_cleaner_e_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (418 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.camera_head_rgb + + | |-- observation.images.camera_left_wrist_rgb + + | `-- observation.images.camera_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:429 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.camera_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.camera_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_arrange_flower.yaml b/dataset_info/Realman_RMC-AIDA-L_arrange_flower.yaml new file mode 100644 index 0000000000000000000000000000000000000000..439cde4167a3c2308f5cae6cc3a5f2f7c366835a --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_arrange_flower.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_arrange_flower +dataset_uuid: 68233725-0f8e-4bce-b3cc-02288e54595d +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: flower +- object_name: vise +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the flowers with the right gripper and insert them into the vase. +sub_tasks: +- subtask: Grasp the pink flower with the right gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Place the pink flower into the vase with with the right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 60 + total_frames: 22483 + fps: 30 + total_tasks: 5 + total_videos: 180 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 465.54 MB +frame_num: 22483 +frame_range: 100K +dataset_size: 465.54 MB +data_structure: 'Realman_RMC-AIDA-L_arrange_flowers_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (48 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:59 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_basket_storage_banana.yaml b/dataset_info/Realman_RMC-AIDA-L_basket_storage_banana.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3a407f22cd0cdbe76594b855e1c9777b43f9452c --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_basket_storage_banana.yaml @@ -0,0 +1,516 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_basket_storage_banana +dataset_uuid: 95db1bea-22a4-4ba9-9097-ef3711a084d0 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: banana +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the yellow basket with the left gripper and place it horizontally in the + middle of the table. Pick up the banana with the right gripper and place it into + the yellow basket. +- Pick up the black basket with the left gripper and place it horizontally in the + middle of the table. Pick up the banana with the right gripper and place it into + the black basket. +- Pick up the black basket with the right gripper and place it horizontally in the + middle of the table. Pick up the banana with the left gripper and place it into + the black basket. +- Pick up the yellow basket with the right gripper and place it horizontally in the + middle of the table. Pick up the banana with the left gripper and place it into + the yellow basket. +sub_tasks: +- subtask: Pick up the banana with the right gripper. + subtask_index: 0 +- subtask: Pick up the light basket with the right gripper. + subtask_index: 1 +- subtask: abnormal. + subtask_index: 2 +- subtask: Place the banana into the light basket with the left gripper. + subtask_index: 3 +- subtask: Place the dark basket in the center of view with the left gripper. + subtask_index: 4 +- subtask: Place the light basket in the center of view with the right gripper. + subtask_index: 5 +- subtask: Place the basket in the center of view with the left gripper. + subtask_index: 6 +- subtask: Pick up the banana with the left gripper. + subtask_index: 7 +- subtask: Place the banana into the dark basket with the left gripper. + subtask_index: 8 +- subtask: end. + subtask_index: 9 +- subtask: Place the banana into the basket with the right gripper. + subtask_index: 10 +- subtask: Place the dark basket in the center of view with the right gripper. + subtask_index: 11 +- subtask: Place the banana into the dark basket with the right gripper. + subtask_index: 12 +- subtask: Pick up the dark basket with the left gripper. + subtask_index: 13 +- subtask: Pick up the basket with the right gripper. + subtask_index: 14 +- subtask: Pick up the basket with the left gripper. + subtask_index: 15 +- subtask: Pick up the dark basket with the right gripper. + subtask_index: 16 +- subtask: null. + subtask_index: 17 +atomic_actions: +- grasp +- pick +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 654 + total_frames: 306335 + fps: 30 + total_tasks: 18 + total_videos: 1962 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 3.14 GB +frame_num: 306335 +frame_range: 1M +dataset_size: 3.14 GB +data_structure: 'RMC-AIDA-L_basket_storage_banana_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (642 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:653 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_basket_storage_egg_yolk_pastry.yaml b/dataset_info/Realman_RMC-AIDA-L_basket_storage_egg_yolk_pastry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..45ebf32dfb0f10683e50191febabfb332e1258f3 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_basket_storage_egg_yolk_pastry.yaml @@ -0,0 +1,515 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_basket_storage_egg_yolk_pastry +dataset_uuid: 928d5a84-eae7-4fae-b272-9356c151aa6d +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: egg_yolk_pastry +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the black basket with the left gripper and place it horizontally in the + middle of the table. Pick up the egg yolk pastry with the right gripper and place + it into the black basket. +- Pick up the yellow basket with the left gripper and place it horizontally in the + middle of the table. Pick up the egg yolk pastry with the right gripper and place + it into the yellow basket. +- Pick up the black basket with the right gripper and place it horizontally in the + middle of the table. Pick up the egg yolk pastry with the left gripper and place + it into the black basket. +- Pick up the yellow basket with the right gripper and place it horizontally in the + middle of the table. Pick up the egg yolk pastry with the left gripper and place + it into the yellow basket. +sub_tasks: +- subtask: Place the basket in the center of view with left gripper. + subtask_index: 0 +- subtask: Place the egg yolk pastry into the basket with right gripper. + subtask_index: 1 +- subtask: Move the basket to the center of view with the right gripper. + subtask_index: 2 +- subtask: Move the basket to the center of view with the left gripper. + subtask_index: 3 +- subtask: Pick up the egg yolk pastry with the right gripper. + subtask_index: 4 +- subtask: Place the basket in the center of view with right gripper. + subtask_index: 5 +- subtask: Pick up the basket with the left gripper. + subtask_index: 6 +- subtask: Place the basket in the center of view with the left gripper. + subtask_index: 7 +- subtask: Grasp egg yolk pastry with left gripper. + subtask_index: 8 +- subtask: Place the egg yolk pastry into the basket with the right gripper. + subtask_index: 9 +- subtask: Grasp the basket with right gripper. + subtask_index: 10 +- subtask: End. + subtask_index: 11 +- subtask: Grasp egg yolk pastry with right gripper. + subtask_index: 12 +- subtask: Place the egg yolk pastry into the basket with left gripper. + subtask_index: 13 +- subtask: Grasp the basket with left gripper. + subtask_index: 14 +- subtask: end. + subtask_index: 15 +- subtask: Place the egg yolk pastry into the basket with the left gripper. + subtask_index: 16 +- subtask: Pick up the egg yolk pastry with the left gripper. + subtask_index: 17 +- subtask: null. + subtask_index: 18 +atomic_actions: +- grasp +- pick +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 727 + total_frames: 295062 + fps: 30 + total_tasks: 19 + total_videos: 2181 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 3.49 GB +frame_num: 295062 +frame_range: 1M +dataset_size: 3.49 GB +data_structure: 'RMC-AIDA-L_basket_storage_egg_yolk_pastry_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (715 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:726 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_basket_storage_long_bread.yaml b/dataset_info/Realman_RMC-AIDA-L_basket_storage_long_bread.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a38edffe5beb0135cc6752bb016c9b4509df095c --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_basket_storage_long_bread.yaml @@ -0,0 +1,543 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_basket_storage_long_bread +dataset_uuid: 2a54716c-882f-4e89-a882-50b8c7b5b821 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: long_bread +- object_name: basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the basket and move it to the appropriate position with the left gripper. + Pick up the long bread and place it into the basket with the right gripper. +- Pick up the black basket with the left gripper and place it horizontally in the + middle of the table. Pick up the long bread with the right gripper and place it + into the black basket. +- Pick up the yellow basket with the left gripper and place it horizontally in the + middle of the table. Pick up the long bread with the right gripper and place it + into the yellow basket. +- Pick up the basket and move it to the appropriate position with the right gripper. + Pick up the long bread with the left gripper and place it into the basket. +- Pick up the black basket with the right gripper and place it horizontally in the + middle of the table. Pick up the long bread with the left gripper and place it into + the black basket. +- Pick up the yellow basket with the right gripper and place it horizontally in the + middle of the table. Pick up the long bread with the left gripper and place it into + the yellow basket. +sub_tasks: +- subtask: Place the long bread into the basket with the left gripper. + subtask_index: 0 +- subtask: Place the long bread into the dark basket with the right gripper. + subtask_index: 1 +- subtask: Place the light basket in the center of view with the left gripper. + subtask_index: 2 +- subtask: Place the long bread into the light basket with the right gripper. + subtask_index: 3 +- subtask: Place the basket in the center of the table with the left gripper. + subtask_index: 4 +- subtask: Pick up the basket with the left gripper. + subtask_index: 5 +- subtask: Grasp the long bread with right gripper. + subtask_index: 6 +- subtask: Place the long bread into the light basket with the left gripper. + subtask_index: 7 +- subtask: Place the basket in the center of view with the left gripper. + subtask_index: 8 +- subtask: Pick up the light basket with the left gripper. + subtask_index: 9 +- subtask: Place the long bread into the dark basket with the left gripper. + subtask_index: 10 +- subtask: Place the light basket in the center of view with the right gripper. + subtask_index: 11 +- subtask: Place the dark basket in the center of view with the right gripper. + subtask_index: 12 +- subtask: Abnormal. + subtask_index: 13 +- subtask: Move the light basket to the center of view with the left gripper. + subtask_index: 14 +- subtask: Pick up the basket with the right gripper. + subtask_index: 15 +- subtask: Place the basket in the center of view with the right gripper. + subtask_index: 16 +- subtask: Place the long bread into the basket with right gripper. + subtask_index: 17 +- subtask: End. + subtask_index: 18 +- subtask: Place the dark basket in the center of view with the left gripper. + subtask_index: 19 +- subtask: Pick up the light basket with the right gripper. + subtask_index: 20 +- subtask: Place the long bread into the basket with the right gripper. + subtask_index: 21 +- subtask: Grasp the basket with the left gripper. + subtask_index: 22 +- subtask: Static. + subtask_index: 23 +- subtask: Pick up the long bread with the right gripper. + subtask_index: 24 +- subtask: end. + subtask_index: 25 +- subtask: Pick up the dark basket with the left gripper. + subtask_index: 26 +- subtask: Pick up the long bread with the left gripper. + subtask_index: 27 +- subtask: Pick up the dark basket with the right gripper. + subtask_index: 28 +- subtask: abnormal. + subtask_index: 29 +- subtask: null. + subtask_index: 30 +atomic_actions: +- grasp +- pick +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 753 + total_frames: 343253 + fps: 30 + total_tasks: 31 + total_videos: 2259 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 3.85 GB +frame_num: 343253 +frame_range: 1M +dataset_size: 3.85 GB +data_structure: 'RMC-AIDA-L_basket_storage_long_bread_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (741 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:752 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_basket_storage_orange.yaml b/dataset_info/Realman_RMC-AIDA-L_basket_storage_orange.yaml new file mode 100644 index 0000000000000000000000000000000000000000..521e2377e23338174a90ad60defce773c51a1d7f --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_basket_storage_orange.yaml @@ -0,0 +1,511 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_basket_storage_orange +dataset_uuid: f96c79dc-15ee-43ed-8c21-1e898a816ee6 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: orange +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the basket and move it to the appropriate position with the left gripper. + Pick up the orange and place it into the basket with the right gripper. +- Pick up the black basket with the left gripper and place it horizontally in the + middle of the table. Pick up the orange with the right gripper and place it into + the black basket. +- Pick up the yellow basket with the left gripper and place it horizontally in the + middle of the table. Pick up the orange with the right gripper and place it into + the yellow basket. +- Pick up the black basket with the right gripper and place it horizontally in the + middle of the table. Pick up the orange with the left gripper and place it into + the black basket. +sub_tasks: +- subtask: Place the dark basket in the center of view with the right gripper. + subtask_index: 0 +- subtask: Place the light basket in the center of view with the right gripper. + subtask_index: 1 +- subtask: Place the orange into the dark basket with the left gripper. + subtask_index: 2 +- subtask: Place the dark basket in the center of view with the left gripper. + subtask_index: 3 +- subtask: end. + subtask_index: 4 +- subtask: Place the orange into the light basket with the left gripper. + subtask_index: 5 +- subtask: Pick up the light basket with the right gripper. + subtask_index: 6 +- subtask: Place the orange into the light basket with the right gripper. + subtask_index: 7 +- subtask: Pick up the orange with the right gripper. + subtask_index: 8 +- subtask: Place the light basket in the center of view with the left gripper. + subtask_index: 9 +- subtask: Pick up the dark basket with the left gripper. + subtask_index: 10 +- subtask: Pick up the light basket with the left gripper. + subtask_index: 11 +- subtask: Pick up the dark basket with the right gripper. + subtask_index: 12 +- subtask: Pick up the orange with the left gripper. + subtask_index: 13 +- subtask: Place the orange into the dark basket with the right gripper. + subtask_index: 14 +- subtask: null. + subtask_index: 15 +atomic_actions: +- grasp +- pick +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 356 + total_frames: 112423 + fps: 30 + total_tasks: 16 + total_videos: 1068 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 1.13 GB +frame_num: 112423 +frame_range: 1M +dataset_size: 1.13 GB +data_structure: 'RMC-AIDA-L_basket_storage_orange_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (344 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:355 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_basket_storage_peach.yaml b/dataset_info/Realman_RMC-AIDA-L_basket_storage_peach.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3891124d6753700d367d27ef1f0ae320062bcfb4 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_basket_storage_peach.yaml @@ -0,0 +1,539 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_basket_storage_peach +dataset_uuid: 88e35314-80f0-4a2b-a92e-5b0e769483ae +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: peach +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the basket and move it to the appropriate position with the left gripper. + Pick up the peach and place it into the basket with the right gripper. +- Pick up the black basket with the left gripper and place it horizontally in the + middle of the table. Pick up the peach with the right gripper and place it into + the black basket. +- Pick up the yellow basket with the left gripper and place it horizontally in the + middle of the table. Pick up the peach with the right gripper and place it into + the yellow basket. +- Pick up the black basket with the right gripper and place it horizontally in the + middle of the table. Pick up the peach with the left gripper and place it into the + black basket. +- Pick up the yellow basket with the right gripper and place it horizontally in the + middle of the table. Pick up the peach with the left gripper and place it into the + yellow basket. +sub_tasks: +- subtask: Place the basket in the center of view with the left gripper. + subtask_index: 0 +- subtask: Place the dark basket in the center of view with the right gripper. + subtask_index: 1 +- subtask: Pick up the basket with the left gripper. + subtask_index: 2 +- subtask: Grasp the peach with left gripper. + subtask_index: 3 +- subtask: Move the basket to the center of view with the left gripper. + subtask_index: 4 +- subtask: Pick up the dark basket with the right gripper. + subtask_index: 5 +- subtask: Pick up the dark basket with the left gripper. + subtask_index: 6 +- subtask: Pick up the peach with the left gripper. + subtask_index: 7 +- subtask: Place the peach in the dark basket with right gripper. + subtask_index: 8 +- subtask: Place the peach in the dark basket with left gripper. + subtask_index: 9 +- subtask: Pick up the light basket with the right gripper. + subtask_index: 10 +- subtask: Grasp the basket with right gripper. + subtask_index: 11 +- subtask: place the peach into the basket. + subtask_index: 12 +- subtask: Grasp the basket with left gripper. + subtask_index: 13 +- subtask: place the basket in the middle. + subtask_index: 14 +- subtask: pick up the basket with your left arm. + subtask_index: 15 +- subtask: Pick up the peach with the right gripper. + subtask_index: 16 +- subtask: End. + subtask_index: 17 +- subtask: Place the basket in the center of view with left gripper. + subtask_index: 18 +- subtask: Place the light basket in the center of view with the right gripper. + subtask_index: 19 +- subtask: abnormal. + subtask_index: 20 +- subtask: Place the basket in the center of view with right gripper. + subtask_index: 21 +- subtask: pick up the peach with your right arm. + subtask_index: 22 +- subtask: Pick up the light basket with the left gripper. + subtask_index: 23 +- subtask: Grasp the peach with right gripper. + subtask_index: 24 +- subtask: Place the peach into the basket with the right gripper. + subtask_index: 25 +- subtask: Place the peach into the basket with the left gripper. + subtask_index: 26 +- subtask: end. + subtask_index: 27 +- subtask: Abnormal. + subtask_index: 28 +- subtask: null. + subtask_index: 29 +atomic_actions: +- grasp +- pick +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 721 + total_frames: 308398 + fps: 30 + total_tasks: 30 + total_videos: 2163 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 3.60 GB +frame_num: 308398 +frame_range: 1M +dataset_size: 3.60 GB +data_structure: 'RMC-AIDA-L_basket_storage_peach_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (709 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:720 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_box_up_down.yaml b/dataset_info/Realman_RMC-AIDA-L_box_up_down.yaml new file mode 100644 index 0000000000000000000000000000000000000000..50701f62e82fab2a35282f83228f746128ac0826 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_box_up_down.yaml @@ -0,0 +1,497 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_box_up_down +dataset_uuid: e095217a-10c3-44e6-9a26-08a1758a1243 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the box on the table with both arms. +- Pick up the box from the table with both arms. +sub_tasks: +- subtask: Grasp the bandage with right gripper. + subtask_index: 0 +- subtask: Loosen the box on the table with right gripper. + subtask_index: 1 +- subtask: Place the box on the table with right gripper. + subtask_index: 2 +- subtask: Lift the box with left gripper. + subtask_index: 3 +- subtask: Place the box on the table with left gripper. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: Loosen the box on the table with left gripper. + subtask_index: 7 +- subtask: Lift the box with right gripper. + subtask_index: 8 +- subtask: Grasp the bandage with left gripper. + subtask_index: 9 +- subtask: Abnormal. + subtask_index: 10 +- subtask: null. + subtask_index: 11 +atomic_actions: +- grasp +- pick +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 159 + total_frames: 31466 + fps: 30 + total_tasks: 12 + total_videos: 477 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 383.71 MB +frame_num: 31466 +frame_range: 100K +dataset_size: 383.71 MB +data_structure: 'RMC-AIDA-L_box_up_down_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (147 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:158 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_clean_table.yaml b/dataset_info/Realman_RMC-AIDA-L_clean_table.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef87818fec9617a369a897284524f66a8599797 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_clean_table.yaml @@ -0,0 +1,505 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_clean_table +dataset_uuid: ed026bcf-f342-4259-9fce-12208d2ca5b3 +scene_type: + level1: household + level2: restaurant + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cup +- object_name: blue_rag +- object_name: purple_rag +- object_name: water +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the paper cup properly with the gripper. Wipe off the black water stain in + the middle of the table with a blue towel with the gripper. +- Place the paper cup properly with the gripper. Wipe off the brown water stain in + the middle of the table with a blue towel with the gripper. +- Place the paper cup properly with the gripper. Wipe off the black water stain in + the middle of the table with a purple towel with the gripper. +- Place the paper cup properly with the gripper. Wipe off the brown water stain in + the middle of the table with a purple towel with the gripper. +sub_tasks: +- subtask: Place the rag on the table with the right gripper. + subtask_index: 0 +- subtask: Stand the paper cup upright with the left gripper. + subtask_index: 1 +- subtask: Grasp the paper cup with the left gripper. + subtask_index: 2 +- subtask: Grasp the paper cup with the right gripper. + subtask_index: 3 +- subtask: Grasp the rag with the left gripper. + subtask_index: 4 +- subtask: Grasp the rag with the right gripper. + subtask_index: 5 +- subtask: Wipe the stains off the table with the left gripper. + subtask_index: 6 +- subtask: Place the rag on the table with the left gripper. + subtask_index: 7 +- subtask: Stand the paper cup upright with the right gripper. + subtask_index: 8 +- subtask: end. + subtask_index: 9 +- subtask: Wipe the stains off the table with the right gripper. + subtask_index: 10 +- subtask: abnormal. + subtask_index: 11 +- subtask: null. + subtask_index: 12 +atomic_actions: +- grasp +- pick +- place +- wipe +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 776 + total_frames: 514178 + fps: 30 + total_tasks: 13 + total_videos: 2328 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 3.46 GB +frame_num: 514178 +frame_range: 1M +dataset_size: 3.46 GB +data_structure: 'RMC-AIDA-L_clean_table_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (764 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:775 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_desktop_organization.yaml b/dataset_info/Realman_RMC-AIDA-L_desktop_organization.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b4f667930b2e377705240b50c6e91f4e88ef42e9 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_desktop_organization.yaml @@ -0,0 +1,650 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_desktop_organization +dataset_uuid: 66922d94-1a12-4281-bddf-1da6a26caf4c +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: orange +- object_name: peach +- object_name: fruit_plate +- object_name: paper_ball +- object_name: plastic +- object_name: trash_can +- object_name: bottle +- object_name: art_knife +- object_name: glue +- object_name: eraser +- object_name: ruler +- object_name: pen +- object_name: scissors +- object_name: pen_holder +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the orange in the fruit plate with the gripper. Place the paper ball in the + trash can with the gripper. Stand the bottle upright with the gripper. Place the + art knife in the pen holder with the gripper. Place the glue in the pen holder with + the gripper. Place the eraser in the pen holder with the gripper. +- Place the peach in the fruit plate with the gripper. Place the plastic in the trash + can with the gripper. Stand the bottle upright with the gripper. Place the ruler + in the pen holder with the gripper. Place the pen in the pen holder with the gripper. + Place the scissor in the pen holder with the gripper. +sub_tasks: +- subtask: Place the blue scissors into the pen holder with the right gripper. + subtask_index: 0 +- subtask: pick up the orange with the left gripper. + subtask_index: 1 +- subtask: Place the blue scissors into the pen holder with the left gripper. + subtask_index: 2 +- subtask: Pass the ruler from the right gripper to the left gripper. + subtask_index: 3 +- subtask: Place the gray spring-action pen into the pen holder with the left gripper. + subtask_index: 4 +- subtask: Pass the blue utility knife from the left gripper to the right gripper. + subtask_index: 5 +- subtask: place the eraser into the pen holder with the right gripper. + subtask_index: 6 +- subtask: pick up the blue scissors with the right gripper. + subtask_index: 7 +- subtask: pick up the blue utility knife with the left gripper. + subtask_index: 8 +- subtask: Place the orange into the fruit bowl with the right gripper. + subtask_index: 9 +- subtask: pick up the plastic with the right gripper. + subtask_index: 10 +- subtask: Discard. + subtask_index: 11 +- subtask: Pass the water bottle from the left gripper to the right gripper. + subtask_index: 12 +- subtask: Pass the ruler from the left gripper to the right gripper. + subtask_index: 13 +- subtask: Place the gray spring-action pen into the pen holder with the right gripper. + subtask_index: 14 +- subtask: Pass the water bottle from the right gripper to the left gripper. + subtask_index: 15 +- subtask: Place the eraser into the pen holder with the left gripper. + subtask_index: 16 +- subtask: pick up the blue scissors with the left gripper. + subtask_index: 17 +- subtask: pick up the ruler with the left gripper. + subtask_index: 18 +- subtask: pick up the eraser with the right gripper. + subtask_index: 19 +- subtask: Pass the peach from the right gripper to the left gripper. + subtask_index: 20 +- subtask: Pass the blue scissors from the right gripper to the left gripper. + subtask_index: 21 +- subtask: Pass the gray spring-action pen from the left gripper to the right gripper. + subtask_index: 22 +- subtask: Pass the eraser from the left gripper to the right gripper. + subtask_index: 23 +- subtask: Place the blue utility knife into the pen holder with the right gripper. + subtask_index: 24 +- subtask: Place the blue utility knife into the pen holder with the left gripper. + subtask_index: 25 +- subtask: Place the ruler into the pen holder with the left gripper. + subtask_index: 26 +- subtask: pick up the orange with the right gripper. + subtask_index: 27 +- subtask: pick up the plastic with the left gripper. + subtask_index: 28 +- subtask: pick up the peach with the right gripper. + subtask_index: 29 +- subtask: Place the paper ball into the trash can with the right gripper. + subtask_index: 30 +- subtask: Place the orange into the fruit bowl with the left gripper. + subtask_index: 31 +- subtask: pick up the gray glue with the right gripper. + subtask_index: 32 +- subtask: Pass the plastic from the right gripper to the left gripper. + subtask_index: 33 +- subtask: pick up the water bottle with the left gripper. + subtask_index: 34 +- subtask: Pass the gray glue from the left gripper to the right gripper. + subtask_index: 35 +- subtask: Pass the paper ball from the left gripper to the right gripper. + subtask_index: 36 +- subtask: Pass the plastic from the left gripper to the right gripper. + subtask_index: 37 +- subtask: pick up the blue utility knife with the right gripper. + subtask_index: 38 +- subtask: Pass the orange from the right gripper to the left gripper. + subtask_index: 39 +- subtask: pick up the paper ball with the left gripper. + subtask_index: 40 +- subtask: Pass the blue scissors from the left gripper to the right gripper. + subtask_index: 41 +- subtask: Place the ruler into the pen holder with the right gripper. + subtask_index: 42 +- subtask: Place the peach into the fruit bowl with the right gripper. + subtask_index: 43 +- subtask: Place the water bottle on the table with the left gripper. + subtask_index: 44 +- subtask: pick up the eraser with the left gripper. + subtask_index: 45 +- subtask: Pass the gray glue from the right gripper to the left gripper. + subtask_index: 46 +- subtask: pick up the gray spring-action pen with the left gripper. + subtask_index: 47 +- subtask: Pass the blue utility knife from the right gripper to the left gripper. + subtask_index: 48 +- subtask: Place the peach into the fruit bowl with the left gripper. + subtask_index: 49 +- subtask: pick up the gray spring-action pen with the right gripper. + subtask_index: 50 +- subtask: pick up the gray glue with the left gripper. + subtask_index: 51 +- subtask: Place the water bottle on the table with the right gripper. + subtask_index: 52 +- subtask: pick up the ruler with the right gripper. + subtask_index: 53 +- subtask: pick up the water bottle with the right gripper. + subtask_index: 54 +- subtask: Place the gray glue into the pen holder with the right gripper. + subtask_index: 55 +- subtask: pick up the peach with the left gripper. + subtask_index: 56 +- subtask: Place the plastic into the trash can with the right gripper. + subtask_index: 57 +- subtask: Pass the gray spring-action pen from the right gripper to the left gripper. + subtask_index: 58 +- subtask: Place the gray glue into the pen holder with the left gripper. + subtask_index: 59 +- subtask: pick up the paper ball with the right gripper. + subtask_index: 60 +- subtask: end. + subtask_index: 61 +- subtask: null. + subtask_index: 62 +atomic_actions: +- grasp +- pick +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 1660 + total_frames: 2647489 + fps: 30 + total_tasks: 63 + total_videos: 4980 + total_chunks: 2 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 38.72 GB +frame_num: 2647489 +frame_range: 10M +dataset_size: 38.72 GB +data_structure: 'RMC-AIDA-L_desktop_organization_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (648 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | |-- chunk-000 + + | | |-- observation.images.cam_high_rgb + + | | |-- observation.images.cam_left_wrist_rgb + + | | `-- observation.images.cam_right_wrist_rgb + + | `-- chunk-001 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:1659 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_fold_shirt.yaml b/dataset_info/Realman_RMC-AIDA-L_fold_shirt.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce267db3a88191b71439050642cbfc5fbc18d6be --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_fold_shirt.yaml @@ -0,0 +1,567 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_fold_shirt +dataset_uuid: bbe55f1a-041d-4956-b4a9-17c9457510aa +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: shirt +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the black shirt with the back facing up. Fold the black shirt into a square + shape with the gripper. +- Place the black shirt with the front facing upwards, fold it into a square shape + with the gripper. +- Place the blue shirt with the back facing up. Fold the black shirt into a square + shape with the gripper. +- Place the blue shirt with the front facing upwards. Fold the black shirt into a + square shape with the gripper. +- Place the navygreen shirt with the back facing up. Fold the black shirt into a square + shape with the gripper. +- Place the navygreen shirt with the front facing upwards. Fold the black shirt into + a square shape with the gripper. +sub_tasks: +- subtask: Fold the lower left sleeve with the left gripper. + subtask_index: 0 +- subtask: Fold the lower left sleeve to the left. + subtask_index: 1 +- subtask: Fold the clothes with the right gripper. + subtask_index: 2 +- subtask: Fold the clothes to the right. + subtask_index: 3 +- subtask: Press the middle of the clothes with the right gripper. + subtask_index: 4 +- subtask: Pull the clothes with the right gripper. + subtask_index: 5 +- subtask: Discard. + subtask_index: 6 +- subtask: pick up the upper right corner of the clothes with the right gripper. + subtask_index: 7 +- subtask: pick up the lower left corner of the clothes with the left gripper. + subtask_index: 8 +- subtask: Fold the lower right sleeve to the right. + subtask_index: 9 +- subtask: Pull the clothes to the left. + subtask_index: 10 +- subtask: Pull the clothes with the left gripper. + subtask_index: 11 +- subtask: Fold the clothes with the left gripper. + subtask_index: 12 +- subtask: Push the clothes to the left. + subtask_index: 13 +- subtask: pick up the upper left corner of the clothes with the left gripper. + subtask_index: 14 +- subtask: Pull the clothes to the right. + subtask_index: 15 +- subtask: pick up the lower right corner of the clothes with the right gripper. + subtask_index: 16 +- subtask: Fold the lower right sleeve with the right gripper. + subtask_index: 17 +- subtask: end. + subtask_index: 18 +- subtask: Fold the clothes to the left. + subtask_index: 19 +- subtask: Push the clothes with the left gripper. + subtask_index: 20 +- subtask: null. + subtask_index: 21 +atomic_actions: +- grasp +- pick +- fold +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 1487 + total_frames: 3512125 + fps: 30 + total_tasks: 22 + total_videos: 4461 + total_chunks: 2 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 29.69 GB +frame_num: 3512125 +frame_range: 10M +dataset_size: 29.69 GB +data_structure: 'RMC-AIDA-L_fold_shirt_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (475 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | |-- chunk-000 + + | | |-- observation.images.cam_high_rgb + + | | |-- observation.images.cam_left_wrist_rgb + + | | `-- observation.images.cam_right_wrist_rgb + + | `-- chunk-001 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:1486 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_fold_shorts.yaml b/dataset_info/Realman_RMC-AIDA-L_fold_shorts.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b74bbbebc76325eb2018e5614dfe06744b84bc3d --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_fold_shorts.yaml @@ -0,0 +1,537 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_fold_shorts +dataset_uuid: 5f973d3e-d7a6-40c1-8ecc-0a4a158505f7 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: shorts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the shorts with the back facing up. Grasp the waist of the shorts with the + left gripper, and grasp the bottom of the shorts with the right gripper, then fold + them in the middle. +- Place the shorts with the front facing upwards. Grasp the waist of the shorts with + the left gripper, and grasp the bottom of the shorts with the right gripper, then + fold them in the middle. +- Place the shorts with the back facing up. Grasp the waist of the shorts with the + right gripper, and grasp the bottom of the shorts with the left gripper, folding + them in the middle. +- Place the shorts with the front facing upwards. Grasp the waist of the shorts with + the right gripper, and grasp the bottom of the shorts with the left gripper, folding + them in the middle. +sub_tasks: +- subtask: pick up the lower left pant leg with your left gripper. + subtask_index: 0 +- subtask: pick up the lower right pant leg with your right gripper. + subtask_index: 1 +- subtask: Fold the bottom of the shorts upward with right gripper. + subtask_index: 2 +- subtask: Fold the pants from right to left with the right gripper. + subtask_index: 3 +- subtask: grasp the waistband with your left gripper. + subtask_index: 4 +- subtask: grasp the lower right waistband with your right gripper. + subtask_index: 5 +- subtask: pick up the waistband with your right gripper. + subtask_index: 6 +- subtask: Fold to the right with your left gripper. + subtask_index: 7 +- subtask: Press the middle of the pants with your left gripper. + subtask_index: 8 +- subtask: Fold upward with your left gripper. + subtask_index: 9 +- subtask: Fold to the left with your right gripper. + subtask_index: 10 +- subtask: grasp the lower left waistband with your left gripper. + subtask_index: 11 +- subtask: Place the folded trousers onto the center area with the right grippers. + subtask_index: 12 +- subtask: Place the folded trousers onto the center area with right gripper. + subtask_index: 13 +- subtask: Place the folded trousers onto the center area with the left grippers. + subtask_index: 14 +- subtask: Grasp the right lower side of the waistband of the shorts with right gripper. + subtask_index: 15 +- subtask: end. + subtask_index: 16 +- subtask: Anomaly detected. + subtask_index: 17 +- subtask: Grasp the lower left leg of the shorts with left gripper. + subtask_index: 18 +- subtask: Fold the shorts from right to left with right gripper. + subtask_index: 19 +- subtask: abnormal. + subtask_index: 20 +- subtask: Fold the pants from left to right with the left gripper. + subtask_index: 21 +- subtask: Fold the bottom of the shorts upward with left gripper. + subtask_index: 22 +- subtask: Fold the bottom of the pants upward with both grippers. + subtask_index: 23 +- subtask: End. + subtask_index: 24 +- subtask: Adjust the pants with your right gripper. + subtask_index: 25 +- subtask: Fold upward with your right gripper. + subtask_index: 26 +- subtask: Adjust the pants with your left gripper. + subtask_index: 27 +- subtask: Press the middle of the pants with your right gripper. + subtask_index: 28 +- subtask: null. + subtask_index: 29 +atomic_actions: +- grasp +- pick +- fold +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 866 + total_frames: 730046 + fps: 30 + total_tasks: 30 + total_videos: 2598 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 9.45 GB +frame_num: 730046 +frame_range: 1M +dataset_size: 9.45 GB +data_structure: 'RMC-AIDA-L_fold_shorts_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (854 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:865 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_fold_towel.yaml b/dataset_info/Realman_RMC-AIDA-L_fold_towel.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4446a590bcaf0cc8f8d674f294847af8cfdabaa9 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_fold_towel.yaml @@ -0,0 +1,488 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_fold_towel +dataset_uuid: a593440c-3003-4563-8c9a-3b02eed8c2e5 +scene_type: + level1: household + level2: bathroom + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Position the towel correctly with both grippers. Grasp the towel with the right + gripper and fold it to the left with the right gripper. +sub_tasks: +- subtask: Grasp the towel with the left gripper. + subtask_index: 0 +- subtask: Move the towel to the center of the table with the right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the towel with the right gripper. + subtask_index: 3 +- subtask: Fold the towel with the left gripper. + subtask_index: 4 +- subtask: Move the towel to the center of the table with both grippers. + subtask_index: 5 +- subtask: Fold the towel with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- fold +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 120 + total_frames: 69438 + fps: 30 + total_tasks: 8 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 1.08 GB +frame_num: 69438 +frame_range: 100K +dataset_size: 1.08 GB +data_structure: 'Realman_RMC-AIDA-L_fold_towel_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (108 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:119 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_food_packaging.yaml b/dataset_info/Realman_RMC-AIDA-L_food_packaging.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6c13a84174470bcb4f9deb359b4a701f8efa74da --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_food_packaging.yaml @@ -0,0 +1,515 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_food_packaging +dataset_uuid: 59eb8786-4e0e-4c5e-b129-aec36ec1eda9 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bag +- object_name: lunch_box +- object_name: cucumber +- object_name: pear +- object_name: banana +- object_name: peach +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the blue bag with the left gripper. Pick up the lunch box from the table + and place it into the bag with the right gripper. Pick up the cucumber from the + table and place it into the bag with the right gripper. Pick up the pear from the + table and place it into the bag with the right gripper. Zip up the bag with the + right gripper. +- Pick up the blue bag with the left gripper. Pick up the lunch box from the table + and place it into the bag with the right gripper. Pick up the banana from the table + and place it into the bag with the right gripper. Pick up the peach from the table + and place it into the bag with the right gripper. Zip up the bag with the right + gripper. +sub_tasks: +- subtask: pick up the pear with your right gripper. + subtask_index: 0 +- subtask: Pick up the lunch box with your right gripper. + subtask_index: 1 +- subtask: end. + subtask_index: 2 +- subtask: place the cucumber into the lunch bag with your right gripper. + subtask_index: 3 +- subtask: grasp the lunch bag with your left gripper. + subtask_index: 4 +- subtask: Secure the lunch bag with your left gripper. + subtask_index: 5 +- subtask: Pick up the cucumber with your right gripper. + subtask_index: 6 +- subtask: grasp the lunch bag with your right gripper. + subtask_index: 7 +- subtask: pick up the banana with your right gripper. + subtask_index: 8 +- subtask: Place the lunch box into the lunch bag with your right gripper. + subtask_index: 9 +- subtask: Place the peach into the lunch bag with your right gripper. + subtask_index: 10 +- subtask: Zip up the lunch bag with your right gripper. + subtask_index: 11 +- subtask: place the banana into the lunch bag with your right gripper. + subtask_index: 12 +- subtask: Place the pear into the lunch bag with your right gripper. + subtask_index: 13 +- subtask: pick up the peach with your right gripper. + subtask_index: 14 +- subtask: null. + subtask_index: 15 +atomic_actions: +- grasp +- pick +- place +- pull +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 497 + total_frames: 817652 + fps: 30 + total_tasks: 16 + total_videos: 1491 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 9.41 GB +frame_num: 817652 +frame_range: 1M +dataset_size: 9.41 GB +data_structure: 'RMC-AIDA-L_food_packaging_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (485 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:496 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_food_storage.yaml b/dataset_info/Realman_RMC-AIDA-L_food_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c17c45c440287889d6c00aa889d103def459d5a0 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_food_storage.yaml @@ -0,0 +1,521 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_food_storage +dataset_uuid: f217b0c1-9f1e-4598-9845-0a85906dadf6 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: handbag +- object_name: bread +- object_name: egg_yolk_pastry +- object_name: orange +- object_name: peach +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the bread from the table with the gripper and place it in the brown handbag + with the gripper. +- Pick up the bread and egg yolk pastry from the table with the gripper and place + it in the brown handbag with the gripper. +- Pick up the egg yolk pastry from the table with the gripper and place it in the + brown handbag with the gripper. +- Pick up the orange from the table with the gripper and place it in the brown handbag + with the gripper. +- Pick up the orange and peach from the table with the gripper and place them in the + brown handbag with the gripper. +- Pick up the peach from the table with the gripper and place it in the brown handbag + with the gripper. +- Pick up the bread from the table with the gripper and place it in the white handbag + with the gripper. +- Pick up the bread and egg yolk pastry from the table with the gripper and place + it in the white handbag with the gripper. +- Pick up the egg yolk pastry from the table with the gripper and place it in the + white handbag with the gripper. +- Pick up the orange from the table with the gripper and place it in the white handbag + with the gripper. +- Pick up the orange and peach from the table with the gripper and place them in the + white handbag. +- Pick up the peach from the table with the gripper and place it in the white handbag + with the gripper. +sub_tasks: +- subtask: Lift the woven bag with the left gripper to open it. + subtask_index: 0 +- subtask: Lower the woven bag with the left gripper to close it. + subtask_index: 1 +- subtask: abnormal. + subtask_index: 2 +- subtask: Place the egg yolk pastry into the woven bag with the right gripper. + subtask_index: 3 +- subtask: Place the peach into the woven bag with the right gripper. + subtask_index: 4 +- subtask: Pick up the orange with the right gripper. + subtask_index: 5 +- subtask: Pick up the egg yolk pastry with the right gripper. + subtask_index: 6 +- subtask: Pick up the bread with the right gripper. + subtask_index: 7 +- subtask: end. + subtask_index: 8 +- subtask: Place the bread into the woven bag with the right gripper. + subtask_index: 9 +- subtask: Place the orange into the woven bag with the right gripper. + subtask_index: 10 +- subtask: Pick up the peach with the right gripper. + subtask_index: 11 +- subtask: null. + subtask_index: 12 +atomic_actions: +- grasp +- pick +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 499 + total_frames: 274806 + fps: 30 + total_tasks: 13 + total_videos: 1497 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 2.45 GB +frame_num: 274806 +frame_range: 1M +dataset_size: 2.45 GB +data_structure: 'RMC-AIDA-L_food_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (487 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:498 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_fruit_storage.yaml b/dataset_info/Realman_RMC-AIDA-L_fruit_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..81ab0a8fed4f466e36ccf3649f0d5593f52266b8 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_fruit_storage.yaml @@ -0,0 +1,505 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_fruit_storage +dataset_uuid: 8276223a-988a-4a97-8459-97f7c498cbb5 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: grape +- object_name: banana +- object_name: plate +- object_name: bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the bowl from the table with the left gripper. Pick up the banana from the + table with the right gripper and place it into the bowl with the right gripper. + Place down the bowl with the left gripper. +- Pick up the banana from the table and place it in the middle plate with the left + gripper. Pick up the grape from the table and place it in the middle plate with + the right gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the grape in the purple plate with left gripper. + subtask_index: 1 +- subtask: Grasp the grape with right gripper. + subtask_index: 2 +- subtask: Place the banana in the purple plate with right gripper. + subtask_index: 3 +- subtask: Place the banana in the blue bowl with left gripper. + subtask_index: 4 +- subtask: Grasp the banana with right gripper. + subtask_index: 5 +- subtask: Grasp the grape with left gripper. + subtask_index: 6 +- subtask: Place the bowl on the table with right gripper. + subtask_index: 7 +- subtask: Place the grape in the purple plate with right gripper. + subtask_index: 8 +- subtask: Place the banana in the purple plate with left gripper. + subtask_index: 9 +- subtask: Lift the blue bowl with right gripper. + subtask_index: 10 +- subtask: Grasp the blue bowl with right gripper. + subtask_index: 11 +- subtask: Static. + subtask_index: 12 +- subtask: Abnormal. + subtask_index: 13 +- subtask: Grasp the banana with left gripper. + subtask_index: 14 +- subtask: null. + subtask_index: 15 +atomic_actions: +- grasp +- pick +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 521 + total_frames: 291785 + fps: 30 + total_tasks: 16 + total_videos: 1563 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 2.56 GB +frame_num: 291785 +frame_range: 1M +dataset_size: 2.56 GB +data_structure: 'RMC-AIDA-L_fruit_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (509 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:520 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_get_water.yaml b/dataset_info/Realman_RMC-AIDA-L_get_water.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dccdc1f5554fb4847bcae540b54a4d772115b1dd --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_get_water.yaml @@ -0,0 +1,497 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_get_water +dataset_uuid: 2a2cc6a7-ac07-494e-9b05-0a437532bdb1 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: faucet +- object_name: cup +- object_name: water +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the black cup with the left gripper and place it horizontally under the + faucet. Turn on the faucet with the right gripper to fill the cup, and then turn + off the faucet with the right gripper. +- Pick up the red cup with the left gripper and place it horizontally under the faucet. + Turn on the faucet with the right gripper to fill the cup, and then turn off the + faucet with the right gripper. +- Pick up the red cup with the right gripper and place it horizontally under the faucet. + Turn on the faucet with the left gripper to fill the cup, and then turn off the + faucet with the left gripper. +sub_tasks: +- subtask: Move the cup beneath the water dispenser nozzle with the right gripper. + subtask_index: 0 +- subtask: Close the dispenser valve with the right gripper. + subtask_index: 1 +- subtask: Open the dispenser valve and fill the cup with water with the right gripper. + subtask_index: 2 +- subtask: Close the dispenser valve with the left gripper. + subtask_index: 3 +- subtask: Open the dispenser valve and fill the cup with water with the left gripper. + subtask_index: 4 +- subtask: end. + subtask_index: 5 +- subtask: Move the cup beneath the water dispenser nozzle with the left gripper. + subtask_index: 6 +- subtask: abnormal. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- pick +- place +- push +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 333 + total_frames: 327536 + fps: 30 + total_tasks: 9 + total_videos: 999 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 2.82 GB +frame_num: 327536 +frame_range: 1M +dataset_size: 2.82 GB +data_structure: 'RMC-AIDA-L_get_water_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (321 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:332 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_glasses_storage.yaml b/dataset_info/Realman_RMC-AIDA-L_glasses_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2cd4a30b1b997c059c98a9cd4de009516996d777 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_glasses_storage.yaml @@ -0,0 +1,512 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_glasses_storage +dataset_uuid: 3f805357-8df7-41c3-aa00-a08b08e0915c +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: glasses_case +- object_name: glasses +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the black glasses into the black glasses case with the gripper. +- Place the black glasses into the green glasses case with the gripper. +- Place the white glasses into the black glasses case with the gripper. +- Place the white glasses into the green glasses case with the gripper. +sub_tasks: +- subtask: Place the glasses case in the center of the table with your left gripper. + subtask_index: 0 +- subtask: pick up the glasses case with your left gripper. + subtask_index: 1 +- subtask: Lift the glasses with your right gripper. + subtask_index: 2 +- subtask: place the glasses into the case with your right gripper. + subtask_index: 3 +- subtask: Discard. + subtask_index: 4 +- subtask: pick up the eyeglass frame with your right gripper. + subtask_index: 5 +- subtask: place the glasses into the case with your left gripper. + subtask_index: 6 +- subtask: end. + subtask_index: 7 +- subtask: Place the glasses on the table with your left gripper. + subtask_index: 8 +- subtask: Close the glasses case with your left gripper. + subtask_index: 9 +- subtask: pick up the frame with your right gripper. + subtask_index: 10 +- subtask: Lift the glasses with your left gripper. + subtask_index: 11 +- subtask: Fold the frame with your right gripper. + subtask_index: 12 +- subtask: Place the glasses case in the center of the table with your right gripper. + subtask_index: 13 +- subtask: Close the glasses case with your right gripper. + subtask_index: 14 +- subtask: Fold the frame with your left gripper. + subtask_index: 15 +- subtask: pick up the glasses with your left gripper. + subtask_index: 16 +- subtask: pick up the glasses case with your right gripper. + subtask_index: 17 +- subtask: null. + subtask_index: 18 +atomic_actions: +- grasp +- pick +- fold +- close +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 990 + total_frames: 861465 + fps: 30 + total_tasks: 19 + total_videos: 2970 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 8.64 GB +frame_num: 861465 +frame_range: 1M +dataset_size: 8.64 GB +data_structure: 'RMC-AIDA-L_glasses_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (978 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:989 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_hang_clothes.yaml b/dataset_info/Realman_RMC-AIDA-L_hang_clothes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7beef0ee8fb8c481641765395253b8377a552c08 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_hang_clothes.yaml @@ -0,0 +1,479 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_hang_clothes +dataset_uuid: bb6cf325-d272-4211-a7b9-6147d5c989f1 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: clothes_drying_rack +- object_name: shirt +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the clothes with the left gripper and hang them on the clothes rack. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the hanger with the left gripper. + subtask_index: 1 +- subtask: Place the hanger on the rack with the left gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- pick +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 10021 + fps: 30 + total_tasks: 4 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 234.72 MB +frame_num: 10021 +frame_range: 100K +dataset_size: 234.72 MB +data_structure: 'Realman_RMC-AIDA-L_hang_clothes_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_organise_the_document_bag.yaml b/dataset_info/Realman_RMC-AIDA-L_organise_the_document_bag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..518ced0e2d285755e5a5ebf82079421b4e7dc1b2 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_organise_the_document_bag.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_organise_the_document_bag +dataset_uuid: 327e0fe7-1be9-4724-b1ae-f511d8ab7f6b +scene_type: + level1: office + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: document_bag +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the green document bag with the left gripper. +- Open the green document bag with the right gripper. +- Open the red document bag with the left gripper. +- Open the red document bag with the right gripper. +sub_tasks: +- subtask: Pulling up the zipper on the transparent plastic bag with the right gripper + to close it. + subtask_index: 0 +- subtask: Pulling up the zipper on the transparent plastic bag with the left gripper + to close it. + subtask_index: 1 +- subtask: Pick up the transparent plastic bag with the left gripper. + subtask_index: 2 +- subtask: Pick up the transparent plastic bag with the right gripper. + subtask_index: 3 +- subtask: Place the transparent plastic bag. + subtask_index: 4 +- subtask: Place the transparent plastic bag with the right gripper. + subtask_index: 5 +- subtask: End. + subtask_index: 6 +- subtask: end. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- place +- pick +- pull +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 480 + total_frames: 225360 + fps: 30 + total_tasks: 9 + total_videos: 1440 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 1.98 GB +frame_num: 225360 +frame_range: 1M +dataset_size: 1.98 GB +data_structure: 'RMC-AIDA-L_organise_the_document_bag_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (468 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:479 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_pass_bowl.yaml b/dataset_info/Realman_RMC-AIDA-L_pass_bowl.yaml new file mode 100644 index 0000000000000000000000000000000000000000..51f65a6087271779eb9407398071bc57d35e083c --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_pass_bowl.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_pass_bowl +dataset_uuid: abd0c9a0-5eb2-441f-a41d-ad899d818185 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the bowl with the left gripper and pass it to the right gripper. grasp the + bowl with the right gripper and place it on the table. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Place the bowl on the table with the right gripper. + subtask_index: 1 +- subtask: Pick up the bowl with the left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Pass the bowl from the left gripper to the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +- pass +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 57 + total_frames: 31462 + fps: 30 + total_tasks: 6 + total_videos: 171 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 200.31 MB +frame_num: 31462 +frame_range: 100K +dataset_size: 200.31 MB +data_structure: 'Realman_RMC-AIDA-L_pass_bowl_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (45 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:56 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_place_test_tube.yaml b/dataset_info/Realman_RMC-AIDA-L_place_test_tube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d5d5151d9e2bd76825ab21f4c7e0bf1c5a4eb2e7 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_place_test_tube.yaml @@ -0,0 +1,496 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_place_test_tube +dataset_uuid: 7ed8e496-1917-4844-a0f7-98fe52c1477d +scene_type: + level1: education + level2: hospital + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: test_tube_rack +- object_name: test_tube +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the test tube rack with the left gripper, transfer it to the right gripper, + then place it into the test tube rack with the right gripper. +sub_tasks: +- subtask: Place the test tube on the test tube rack with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Pass the test tube from the left gripper to the right gripper. + subtask_index: 2 +- subtask: pick up the test tube with the right gripper. + subtask_index: 3 +- subtask: end. + subtask_index: 4 +- subtask: Place the test tubes on the test tube rack with the left gripper. + subtask_index: 5 +- subtask: move the test tube from the right gripper to the left gripper. + subtask_index: 6 +- subtask: Pick up the test tube with the right gripper. + subtask_index: 7 +- subtask: Grasp the arch-shaped block with the left gripper. + subtask_index: 8 +- subtask: Pick up the test tube with the left gripper. + subtask_index: 9 +- subtask: Place the test tubes on the test tube rack with the right gripper. + subtask_index: 10 +- subtask: Pass the test tube from the right gripper to the left gripper. + subtask_index: 11 +- subtask: null. + subtask_index: 12 +atomic_actions: +- grasp +- place +- pick +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 648 + total_frames: 365863 + fps: 30 + total_tasks: 13 + total_videos: 1944 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 4.04 GB +frame_num: 365863 +frame_range: 1M +dataset_size: 4.04 GB +data_structure: 'RMC-AIDA-L_place_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (636 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:647 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_place_the_fruits_repeatedly.yaml b/dataset_info/Realman_RMC-AIDA-L_place_the_fruits_repeatedly.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f90badd15de198736043ea6ea82125a2bb850858 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_place_the_fruits_repeatedly.yaml @@ -0,0 +1,521 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_place_the_fruits_repeatedly +dataset_uuid: 3448d8ea-8209-43cf-bfcc-550863a26b13 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bowl +- object_name: peach +- object_name: orange +- object_name: egg_yolk_pastry +- object_name: bread +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the peach into the blue bowl with the gripper and pour it out repeatedly with + the gripper. +- Place the orange into the blue bowl with the gripper and pour it out repeatedly + with the gripper. +- Place the egg yolk pastry into the blue bowl with the gripper and pour it out repeatedly + with the gripper. +- Place the bread into the blue bowl with the gripper and pour it out repeatedly with + the gripper. +- Place the peach into the pink bowl with the gripper and pour it out repeatedly with + the gripper. +- Place the orange into the pink bowl with the gripper and pour it out repeatedly. +- Place the egg yolk pastry into the pink bowl with the gripper and pour it out repeatedly + with the gripper. +- Place the bread into the pink bowl with the gripper and pour it out repeatedly with + the gripper. +sub_tasks: +- subtask: Pick up the bowl with the left gripper. + subtask_index: 0 +- subtask: Place the bread into the bowl. + subtask_index: 1 +- subtask: abnormal. + subtask_index: 2 +- subtask: Pick up the egg yolk pastry with the right gripper. + subtask_index: 3 +- subtask: Pour the egg yolk pastry out of bowl. + subtask_index: 4 +- subtask: Pour the orange out of the bowl. + subtask_index: 5 +- subtask: Place the peach into the bowl. + subtask_index: 6 +- subtask: Pour the peach out of bowl. + subtask_index: 7 +- subtask: Place the egg yolk pastry into the bowl. + subtask_index: 8 +- subtask: Pick up the bread with the right gripper. + subtask_index: 9 +- subtask: Pick up the peach with the right gripper. + subtask_index: 10 +- subtask: Pour the bread out of the bowl. + subtask_index: 11 +- subtask: end. + subtask_index: 12 +- subtask: Place the bowl on the table. + subtask_index: 13 +- subtask: Place the orange into the bowl. + subtask_index: 14 +- subtask: Pick up the orange with the right gripper. + subtask_index: 15 +- subtask: null. + subtask_index: 16 +atomic_actions: +- grasp +- place +- pick +- pour +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 481 + total_frames: 541540 + fps: 30 + total_tasks: 17 + total_videos: 1443 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 3.68 GB +frame_num: 541540 +frame_range: 1M +dataset_size: 3.68 GB +data_structure: 'RMC-AIDA-L_place_the_fruits_repeatedly_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (469 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:480 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_place_towel.yaml b/dataset_info/Realman_RMC-AIDA-L_place_towel.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9869987cea91f2903abf891edb942996cdc1bb9a --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_place_towel.yaml @@ -0,0 +1,485 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_place_towel +dataset_uuid: 666a0109-3399-4955-b2fb-66509139637f +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the towel from the storage box with the gripper and lay it flat on the table. +- Pick up the towel from the storage box with the gripper and lay it flat on the black + tablecloth. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Spread the towel flat with the left gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Pick up a towel with the left gripper. + subtask_index: 3 +- subtask: Static. + subtask_index: 4 +- subtask: Pick up a towel with the right gripper. + subtask_index: 5 +- subtask: Spread the towel flat with the right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- place +- pick +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 398 + total_frames: 281308 + fps: 30 + total_tasks: 8 + total_videos: 1194 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 4.75 GB +frame_num: 281308 +frame_range: 1M +dataset_size: 4.75 GB +data_structure: 'RMC-AIDA-L_place_towel_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (386 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- 1.json + + |-- info.yaml + + `-- README.md' +splits: + train: 0:397 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_plate_storage.yaml b/dataset_info/Realman_RMC-AIDA-L_plate_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3c80ccc523250afba16d1630e50ea9940affebbb --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_plate_storage.yaml @@ -0,0 +1,492 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_plate_storage +dataset_uuid: 8c203fd8-2988-4e8f-8ddc-eedbb69dcdfe +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plate +- object_name: shelf +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grip the plate with the left gripper, pass it to the right gripper, then place it + on the shelf with the left gripper. +- Grip the plate with the right gripper, pass it to the left gripper, then place it + on the shelf with the right gripper. +sub_tasks: +- subtask: Place the plate on the shelf with the right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Pick up the plate with the right gripper. + subtask_index: 2 +- subtask: end. + subtask_index: 3 +- subtask: Pick up the plate with the left gripper. + subtask_index: 4 +- subtask: Pass the plate from the left gripper to the right gripper. + subtask_index: 5 +- subtask: Pass the plate from the right gripper to the left gripper. + subtask_index: 6 +- subtask: Place the plate on the shelf with the left gripper. + subtask_index: 7 +- subtask: abnormal. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- grasp +- pick +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 498 + total_frames: 284602 + fps: 30 + total_tasks: 10 + total_videos: 1494 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 1.83 GB +frame_num: 284602 +frame_range: 1M +dataset_size: 1.83 GB +data_structure: 'RMC-AIDA-L_plate_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (486 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:497 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_pour_coffee_beans.yaml b/dataset_info/Realman_RMC-AIDA-L_pour_coffee_beans.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6b392e54e650d17a9cf549b289edd1aa1b838430 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_pour_coffee_beans.yaml @@ -0,0 +1,503 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_pour_coffee_beans +dataset_uuid: aa202f76-162f-44a2-aa83-c8448ab991e2 +scene_type: + level1: household + level2: restaurant + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: gray_cup +- object_name: red_cup +- object_name: glass +- object_name: coffee_bean +- object_name: blue_spoon +- object_name: pink_spoon +- object_name: glass_lid +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the coffee beans from the glass with the right gripper and then pour them + into the gray cup. +- Pick up the coffee beans from the glass with the right gripper, and then pour them + into the gray cup with the right gripper. +- Pick up the coffee beans from the glass with the right gripper, and then pour them + into the red cup. +- Pick up the coffee beans from the glass with the left gripper, and then pour them + into the gray cup with the left gripper. +- Pick up the coffee beans from the glass with the left gripper, and then pour them + into the red cup with the left gripper. +- Pick up the coffee beans from the glass with the left gripper, and then pour them + into the red cup with the left gripper. +- Pick up the coffee beans from the glass with the right gripper, and then pour them + into the red cup with the right gripper. +- Pick up the coffee beans from the glass with the left gripper, and then pour them + into the gray cup with the left gripper. +sub_tasks: +- subtask: Place the spoon back in its original place with the right gripper. + subtask_index: 0 +- subtask: Scoop a spoonful of beans into the cup with the right gripper. + subtask_index: 1 +- subtask: abnormal. + subtask_index: 2 +- subtask: Pick up the spoon with the right gripper. + subtask_index: 3 +- subtask: Move the cup to the center of view with the left gripper. + subtask_index: 4 +- subtask: end. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- place +- pick +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 493 + total_frames: 352789 + fps: 30 + total_tasks: 7 + total_videos: 1479 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 1.85 GB +frame_num: 352789 +frame_range: 1M +dataset_size: 1.85 GB +data_structure: 'RMC-AIDA-L_pour_coffee_beans_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (481 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:492 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_pour_rice.yaml b/dataset_info/Realman_RMC-AIDA-L_pour_rice.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d1b575694a4ecdb523f2484b35570686fd8da0ba --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_pour_rice.yaml @@ -0,0 +1,505 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_pour_rice +dataset_uuid: c79b49bf-cadf-4094-831d-bbf6403956c6 +scene_type: + level1: household + level2: restaurant + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: rice +- object_name: grain_cup +- object_name: rice_cooker +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the bowl in the middle of the table with the right gripper. Pour the rice + from the grain cup into it with the left gripper. +- Place the bowl in the middle of the table with the left gripper. Pour the rice from + the grain cup into it with the right gripper. +sub_tasks: +- subtask: Pick up the cup with rice in it with the left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: end. + subtask_index: 2 +- subtask: Move the bowl in the center of view with left gripper. + subtask_index: 3 +- subtask: Pick up the bowl with the left gripper. + subtask_index: 4 +- subtask: Place the cup on the table with the right gripper. + subtask_index: 5 +- subtask: Pour the rice from the cup into the bowl with the left gripper. + subtask_index: 6 +- subtask: Place the bowl in the center of view with the right gripper. + subtask_index: 7 +- subtask: Static. + subtask_index: 8 +- subtask: Place the cup on the table with the left gripper. + subtask_index: 9 +- subtask: Pour the rice from the cup into the bowl with the right gripper. + subtask_index: 10 +- subtask: Pick up the cup with rice in it with the right gripper. + subtask_index: 11 +- subtask: Pick up the bowl with the right gripper. + subtask_index: 12 +- subtask: Place the bowl in the center of view with the left gripper. + subtask_index: 13 +- subtask: Grasp the cup with rice in it with right gripper. + subtask_index: 14 +- subtask: abnormal. + subtask_index: 15 +- subtask: null. + subtask_index: 16 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 714 + total_frames: 413739 + fps: 30 + total_tasks: 17 + total_videos: 2142 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 2.93 GB +frame_num: 413739 +frame_range: 1M +dataset_size: 2.93 GB +data_structure: 'RMC-AIDA-L_pour_rice_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (702 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:713 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_pour_tea.yaml b/dataset_info/Realman_RMC-AIDA-L_pour_tea.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b40d592c7b42fe72e2a83f07f2883cf89e3fc723 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_pour_tea.yaml @@ -0,0 +1,503 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_pour_tea +dataset_uuid: 25f997d1-8e07-4035-b14f-0b3219460e17 +scene_type: + level1: household + level2: restaurant + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cup +- object_name: tea +- object_name: teapot +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the handle of the teapot with the left gripper and pour tea into the teacup + with the left gripper. +- Grasp the handle of the teapot with the right gripper and pour tea into the teacup + with the right gripper. +sub_tasks: +- subtask: Pour tea into the teacup with the light gripper. + subtask_index: 0 +- subtask: Pour tea into the teacup with the right gripper. + subtask_index: 1 +- subtask: end. + subtask_index: 2 +- subtask: abnormal. + subtask_index: 3 +- subtask: Pour tea into the teacup with the left gripper. + subtask_index: 4 +- subtask: Pick up the teacup with the right gripper. + subtask_index: 5 +- subtask: place down the teapot with the left gripper. + subtask_index: 6 +- subtask: Pick up the teacup with the left gripper. + subtask_index: 7 +- subtask: End. + subtask_index: 8 +- subtask: Pick up the teapot with the right gripper. + subtask_index: 9 +- subtask: Place the teacup in the center of view with the left gripper. + subtask_index: 10 +- subtask: Pick up the teapot with the left gripper. + subtask_index: 11 +- subtask: place down the teapot with the right gripper. + subtask_index: 12 +- subtask: Abnormal. + subtask_index: 13 +- subtask: Place the teacup in the center of view with the right gripper. + subtask_index: 14 +- subtask: null. + subtask_index: 15 +atomic_actions: +- grasp +- place +- pick +- pour +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 790 + total_frames: 547759 + fps: 30 + total_tasks: 16 + total_videos: 2370 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 3.96 GB +frame_num: 547759 +frame_range: 1M +dataset_size: 3.96 GB +data_structure: 'RMC-AIDA-L_pour_tea_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (778 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:789 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_pull_open_bag.yaml b/dataset_info/Realman_RMC-AIDA-L_pull_open_bag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4dad908a2e7e746ba243b6cea910979e6e647c03 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_pull_open_bag.yaml @@ -0,0 +1,536 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_pull_open_bag +dataset_uuid: 4363efec-236f-4495-a86b-14c3a5d20345 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: food_bag +- object_name: zipper +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Unzip the black food bag with the gripper. +- Close the zipper of the black food bag with the gripper. +- Unzip the khaki food bag with the gripper. +- Close the zipper of the khaki food bag with the gripper. +- Close the zipper of the food bag with the gripper. +sub_tasks: +- subtask: pick up the zipper with your left gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Place the bag on the table with left gripper. + subtask_index: 2 +- subtask: Pull open the zipper with your right gripper. + subtask_index: 3 +- subtask: pick up the bag with your left gripper. + subtask_index: 4 +- subtask: Static. + subtask_index: 5 +- subtask: Unzip the zipper of bag with right gripper. + subtask_index: 6 +- subtask: End. + subtask_index: 7 +- subtask: Pick up the bag with left gripper. + subtask_index: 8 +- subtask: end. + subtask_index: 9 +- subtask: Pick up the bag with right gripper. + subtask_index: 10 +- subtask: Deliver the bag from right gripper to left gripper. + subtask_index: 11 +- subtask: Pull up the zipper with your right gripper. + subtask_index: 12 +- subtask: Discard. + subtask_index: 13 +- subtask: null. + subtask_index: 14 +atomic_actions: +- grasp +- pull +- zip +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 1396 + total_frames: 684327 + fps: 30 + total_tasks: 15 + total_videos: 4188 + total_chunks: 2 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 8.27 GB +frame_num: 684327 +frame_range: 1M +dataset_size: 8.27 GB +data_structure: 'RMC-AIDA-L_pull_open_bag_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (384 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | |-- chunk-000 + + | | |-- observation.images.cam_high_rgb + + | | |-- observation.images.cam_left_wrist_rgb + + | | `-- observation.images.cam_right_wrist_rgb + + | `-- chunk-001 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:1395 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_stack_baskets.yaml b/dataset_info/Realman_RMC-AIDA-L_stack_baskets.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d0f963c96296dbb70562cce8103c833e15ae3b48 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_stack_baskets.yaml @@ -0,0 +1,518 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_stack_baskets +dataset_uuid: d4c26606-f766-48ca-befd-dbdeead83a95 +scene_type: + level1: household + level2: restaurant + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: brown_basket +- object_name: yellow_basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- -Place the brown basket in the center and the yellow basket on top of the brown + basket. -Place the yellow basket in the center and the brown basket on top of the + yellow basket. +sub_tasks: +- subtask: Pick up the light basket with the right gripper. + subtask_index: 0 +- subtask: Place the light basket in the center of the table with left gripper. + subtask_index: 1 +- subtask: Pick up the dark basket with the left gripper. + subtask_index: 2 +- subtask: Pick up the dark basket with the right gripper. + subtask_index: 3 +- subtask: abnormal. + subtask_index: 4 +- subtask: Grasp the dark basket with right gripper. + subtask_index: 5 +- subtask: Place the dark basket in the center of view with the left gripper. + subtask_index: 6 +- subtask: Pick up the light basket with the left gripper. + subtask_index: 7 +- subtask: End. + subtask_index: 8 +- subtask: Place the dark basket on the light basket with right gripper. + subtask_index: 9 +- subtask: Place the light basket in the center of view with the left gripper. + subtask_index: 10 +- subtask: Place the dark basket on the light basket with the right gripper. + subtask_index: 11 +- subtask: Grasp the light basket with left gripper. + subtask_index: 12 +- subtask: end. + subtask_index: 13 +- subtask: Place the light basket on the dark basket with the right gripper. + subtask_index: 14 +- subtask: null. + subtask_index: 15 +atomic_actions: +- grasp +- place +- pick +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 484 + total_frames: 278342 + fps: 30 + total_tasks: 16 + total_videos: 1452 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 3.84 GB +frame_num: 278342 +frame_range: 1M +dataset_size: 3.84 GB +data_structure: 'RMC-AIDA-L_stack_baskets_qced_hardlink/ + + |-- @eaDir + + | `-- .DS_Store@SynoResource + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | |-- @eaDir + + | | `-- .DS_Store@SynoResource + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (472 more entries) + + | `-- .DS_Store + + |-- logs + + | `-- collect + + | `-- collect_20260521215539.log + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- .DS_Store + + |-- info.yaml + + `-- README.md' +splits: + train: 0:483 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_stir_coffee.yaml b/dataset_info/Realman_RMC-AIDA-L_stir_coffee.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ea2791ae0e2820472d360ae7828a88153fb1b5d8 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_stir_coffee.yaml @@ -0,0 +1,527 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_stir_coffee +dataset_uuid: ee676d19-f3d4-4c11-bb83-9a2474cf77c5 +scene_type: + level1: household + level2: office + level3: cafe + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cup +- object_name: spoon +- object_name: tablecloth +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the grey cup to the center with the right gripper. Lift the blue spoon with + the left gripper and stir it three times into the cup with the left gripper. Place + the spoon into the cup with the left gripper. +- Move the grey cup to the center with the left gripper. Lift the blue spoon with + the right gripper and stir it three times into the cup with the right gripper. Place + the spoon into the cup with the right gripper. +- Move the grey cup to the center with the right gripper. Lift the pink spoon with + the left gripper and stir it three times into the cup with the left gripper. Place + the spoon into the cup with the left gripper. +- Move the grey cup to the center with the left gripper. Lift the pink spoon with + the right gripper and stir it three times into the cup with the right gripper. Place + the spoon into the cup with the right gripper. +- Move the red cup to the center with the right gripper. Lift the blue spoon with + the left gripper and stir it three times into the cup with the left gripper. Place + the spoon into the cup with the left gripper. +- Move the red cup to the center with the left gripper. Lift the blue spoon with the + right gripper and stir it three times into the cup with the right gripper. Place + the spoon into the cup with the right gripper. +- Move the red cup to the center with the right gripper. Lift the pink spoon with + the left gripper and stir it three times into the cup with the left gripper. Place + the spoon into the cup with the left gripper. +- Move the red cup to the center with the left gripper. Lift the pink spoon with the + right gripper and stir it three times into the cup with the right gripper. Place + the spoon into the cup with the right gripper. +sub_tasks: +- subtask: Stir the coffee into the cup with the right gripper. + subtask_index: 0 +- subtask: Stir the coffee with right gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Move the cup with coffee to the center of view with the right gripper. + subtask_index: 3 +- subtask: Static. + subtask_index: 4 +- subtask: Move the cup in the center of the table with right gripper. + subtask_index: 5 +- subtask: Grasp the spoon with left gripper. + subtask_index: 6 +- subtask: Move the cup with coffee to the center of view with the left gripper. + subtask_index: 7 +- subtask: Stir the coffee into the cup with the left gripper. + subtask_index: 8 +- subtask: Grasp the spoon with right gripper. + subtask_index: 9 +- subtask: End. + subtask_index: 10 +- subtask: end. + subtask_index: 11 +- subtask: abnormal. + subtask_index: 12 +- subtask: Stir the coffee with left gripper. + subtask_index: 13 +- subtask: Move the cup in the center of the table with left gripper. + subtask_index: 14 +- subtask: Pick up the spoon with the left gripper. + subtask_index: 15 +- subtask: Pick up the spoon with the right gripper. + subtask_index: 16 +- subtask: null. + subtask_index: 17 +atomic_actions: +- grasp +- pick +- place +- stir +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 767 + total_frames: 555807 + fps: 30 + total_tasks: 18 + total_videos: 2301 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 3.59 GB +frame_num: 555807 +frame_range: 1M +dataset_size: 3.59 GB +data_structure: 'RMC-AIDA-L_stir_coffee_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (755 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:766 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_storage_bin_storage.yaml b/dataset_info/Realman_RMC-AIDA-L_storage_bin_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d01aeeceee17884531999a444241b5dda33995bc --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_storage_bin_storage.yaml @@ -0,0 +1,540 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_storage_bin_storage +dataset_uuid: 257289bb-b38e-411f-a2d0-d787e9f12419 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: teacup +- object_name: block +- object_name: storage_bin +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the teacup on the table with the gripper and place it into the storage bin. + Pick up the block on the table with the gripper and place it into the storage bin. +sub_tasks: +- subtask: Place the orange block in the storage box with left gripper. + subtask_index: 0 +- subtask: Place the white block in the storage box with left gripper. + subtask_index: 1 +- subtask: Place the red block in the storage box with left gripper. + subtask_index: 2 +- subtask: Grasp the green block with left gripper. + subtask_index: 3 +- subtask: Grasp the dark blue block with right gripper. + subtask_index: 4 +- subtask: Grasp the orange block with left gripper. + subtask_index: 5 +- subtask: Place the white block in the storage box with right gripper. + subtask_index: 6 +- subtask: Place the green block and red block in the storage box with left gripper. + subtask_index: 7 +- subtask: Grasp the cup with left gripper. + subtask_index: 8 +- subtask: Place the dark blue block in the storage box with left gripper. + subtask_index: 9 +- subtask: Grasp the orange block and white block with left gripper. + subtask_index: 10 +- subtask: Grasp the light blue block with right gripper. + subtask_index: 11 +- subtask: Place the green block in the storage box with right gripper. + subtask_index: 12 +- subtask: Place the light blue block in the storage box with left gripper. + subtask_index: 13 +- subtask: Grasp the red block with left gripper. + subtask_index: 14 +- subtask: Grasp the white block with right gripper. + subtask_index: 15 +- subtask: Place the orange block in the storage box with right gripper. + subtask_index: 16 +- subtask: Grasp the green block and red block with left gripper. + subtask_index: 17 +- subtask: Place the green block in the storage box with left gripper. + subtask_index: 18 +- subtask: Grasp the cup with right gripper. + subtask_index: 19 +- subtask: Abnormal. + subtask_index: 20 +- subtask: Place the red block in the storage box with right gripper. + subtask_index: 21 +- subtask: Place the cup in the storage box with left gripper. + subtask_index: 22 +- subtask: Grasp the light blue block with left gripper. + subtask_index: 23 +- subtask: Place the light blue block in the storage box with right gripper. + subtask_index: 24 +- subtask: End. + subtask_index: 25 +- subtask: Place the dark blue block in the storage box with right gripper. + subtask_index: 26 +- subtask: Place the cup in the storage box with right gripper. + subtask_index: 27 +- subtask: Place the orange block and white block in the storage box with left gripper. + subtask_index: 28 +- subtask: Grasp the green block with right gripper. + subtask_index: 29 +- subtask: Grasp the white block with left gripper. + subtask_index: 30 +- subtask: Grasp the red block with right gripper. + subtask_index: 31 +- subtask: Static. + subtask_index: 32 +- subtask: Grasp the orange block with right gripper. + subtask_index: 33 +- subtask: Grasp the dark blue block with left gripper. + subtask_index: 34 +- subtask: null. + subtask_index: 35 +atomic_actions: +- grasp +- pick +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 302 + total_frames: 914776 + fps: 30 + total_tasks: 36 + total_videos: 906 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 15.73 GB +frame_num: 914776 +frame_range: 1M +dataset_size: 15.73 GB +data_structure: 'RMC-AIDA-L_storage_bin_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (290 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:301 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_storage_block_basket.yaml b/dataset_info/Realman_RMC-AIDA-L_storage_block_basket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d4174bbdd55204a04e215c403c3000055a13809b --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_storage_block_basket.yaml @@ -0,0 +1,497 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_storage_block_basket +dataset_uuid: 553f6ae5-a550-47a3-b70e-a9bb1cab5cad +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: building_block +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- the left gripper grasp the basket on the table, the right grippe pick up the blocks + on the table and place it into the basket. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the blue cube with the right gripper. + subtask_index: 1 +- subtask: Place the blue cube into the basket with the right gripper. + subtask_index: 2 +- subtask: Grasp the basket with the left gripper. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 19083 + fps: 30 + total_tasks: 5 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 201.40 MB +frame_num: 19083 +frame_range: 100K +dataset_size: 201.40 MB +data_structure: 'Realman_RMC-AIDA-L_storage_block_basket_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- logs + + | `-- collect + + | `-- collect_20260521215505.log + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + |-- local_dataset_info.20260427_183230.bak + + |-- local_dataset_info.yaml + + |-- local_dataset_info.yaml.bak.20260428_131829 + + `-- README.md' +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_storage_peach_box.yaml b/dataset_info/Realman_RMC-AIDA-L_storage_peach_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c186ada2c5831dbe63c249fa1fcd6dc1c77bc8b0 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_storage_peach_box.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_storage_peach_box +dataset_uuid: 49c28a37-16ff-41f5-ab1c-d1c61b89eb1a +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: black_box +- object_name: peach +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Open the box with the left gripper. Grasp the peach on the table with the right + gripper and place it into the box with the right gripper. +sub_tasks: +- subtask: Close the box with the left gripper. + subtask_index: 0 +- subtask: Open the lid with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the peach with the right gripper. + subtask_index: 3 +- subtask: Place the peach into the box with the right gripper. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 118 + total_frames: 78472 + fps: 30 + total_tasks: 6 + total_videos: 354 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 751.68 MB +frame_num: 78472 +frame_range: 100K +dataset_size: 751.68 MB +data_structure: 'Realman_RMC-AIDA-L_storage_peach_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (106 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:117 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_storage_peach_drawer.yaml b/dataset_info/Realman_RMC-AIDA-L_storage_peach_drawer.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9ee936bdf5f32c7b4499e40a5bfdec554db6047f --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_storage_peach_drawer.yaml @@ -0,0 +1,484 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_storage_peach_drawer +dataset_uuid: 44e318f0-a7e1-4248-89f0-1b1de52ad1a2 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: drawer +- object_name: peach +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the peach on the table with the right gripper and place it into the drawer. + Close the drawer with the left gripper. +sub_tasks: +- subtask: Close the drawer with the left gripper. + subtask_index: 0 +- subtask: Place the peach into the top drawer with the right gripper. + subtask_index: 1 +- subtask: end. + subtask_index: 2 +- subtask: Grasp the peach with the right gripper. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 120 + total_frames: 46600 + fps: 30 + total_tasks: 5 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 596.03 MB +frame_num: 46600 +frame_range: 100K +dataset_size: 596.03 MB +data_structure: 'Realman_RMC-AIDA-L_storage_peach_drawer_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (108 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:119 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Realman_RMC-AIDA-L_storage_towel_basket.yaml b/dataset_info/Realman_RMC-AIDA-L_storage_towel_basket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9bbb82f37e08d77bf1dad209591ea9e98fe74f5c --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_storage_towel_basket.yaml @@ -0,0 +1,486 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Realman_RMC-AIDA-L_storage_towel_basket +dataset_uuid: 6e2e20fd-955a-498f-ae7e-930e39b473e1 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the basket on the table with the left gripper. Pick up the towel on the table + with the right gripper and place it into the basket. +sub_tasks: +- subtask: Place the towel into the basket with the right gripper. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: PIck up the basket with the left gripper. + subtask_index: 2 +- subtask: PIck up the towel with the right gripper. + subtask_index: 3 +- subtask: end. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Realman_RMC-AIDA-L +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 118 + total_frames: 58520 + fps: 30 + total_tasks: 6 + total_videos: 354 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 684.59 MB +frame_num: 58520 +frame_range: 100K +dataset_size: 684.59 MB +data_structure: 'Realman_RMC-AIDA-L_storage_towel_basket_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (106 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:117 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_battery_storage_b.yaml b/dataset_info/Tianqing_A2D_battery_storage_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..396918e7dd152f52590bfcc950a2cef10459a47c --- /dev/null +++ b/dataset_info/Tianqing_A2D_battery_storage_b.yaml @@ -0,0 +1,610 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_battery_storage_b +dataset_uuid: 632c0e2b-a8bb-4e12-9635-82df87be2096 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +- object_name: battery +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the battery from the box onto the table with the gripper. +sub_tasks: +- subtask: Place the power supply on the operating table. + subtask_index: 0 +- subtask: pick up and lift the power supply from the large box. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 115 + total_frames: 57968 + fps: 30 + total_tasks: 3 + total_videos: 920 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 29.58 GB +frame_num: 57968 +frame_range: 100K +dataset_size: 29.58 GB +data_structure: 'AgiBot-g1_battery_storage_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (103 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:114 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_battery_storage_c.yaml b/dataset_info/Tianqing_A2D_battery_storage_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..111faa5dabe9e0390a0a3c2f0f0dfb6fbc2d2275 --- /dev/null +++ b/dataset_info/Tianqing_A2D_battery_storage_c.yaml @@ -0,0 +1,616 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_battery_storage_c +dataset_uuid: b2a4e622-affe-407e-9e15-b94e3a5cf225 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +- object_name: battery +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the batteries into the box on the table with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: pick up and lift the power supply from the large box. + subtask_index: 1 +- subtask: Place the battery on the shelf. + subtask_index: 2 +- subtask: Grasp the battery. + subtask_index: 3 +- subtask: Place the power supply on the operating table. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 57 + total_frames: 34166 + fps: 30 + total_tasks: 6 + total_videos: 456 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 18.33 GB +frame_num: 34166 +frame_range: 100K +dataset_size: 18.33 GB +data_structure: 'AgiBot-g1_battery_storage_c_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (45 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:56 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_box_storage_a.yaml b/dataset_info/Tianqing_A2D_box_storage_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..31cba5b7f267751712336e9d38e06e6b2ee3b25d --- /dev/null +++ b/dataset_info/Tianqing_A2D_box_storage_a.yaml @@ -0,0 +1,610 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_box_storage_a +dataset_uuid: a1e4a24d-cfb7-4719-a86c-d455555bc395 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the box on the table with the gripper. Place it into the big box with the + gripper. +sub_tasks: +- subtask: Place the mouse and the power cord paper box into the container. + subtask_index: 0 +- subtask: Pick up the mouse and the power cord paper box. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 21 + total_frames: 11770 + fps: 30 + total_tasks: 3 + total_videos: 168 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 4.83 GB +frame_num: 11770 +frame_range: 100K +dataset_size: 4.83 GB +data_structure: 'AgiBot-g1_box_storage_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (9 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:20 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_box_storage_b.yaml b/dataset_info/Tianqing_A2D_box_storage_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6cbdb50eb3c0a663fbacbcf019e77397f26e72cb --- /dev/null +++ b/dataset_info/Tianqing_A2D_box_storage_b.yaml @@ -0,0 +1,610 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_box_storage_b +dataset_uuid: acb66e80-45d3-413b-829d-ca92e763d418 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the box on the table with the gripper. Place it into the big box with the + gripper. +sub_tasks: +- subtask: Place the mouse and the power cord paper box into the container. + subtask_index: 0 +- subtask: Pick up the mouse and the power cord paper box. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 96 + total_frames: 49301 + fps: 30 + total_tasks: 3 + total_videos: 768 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 19.73 GB +frame_num: 49301 +frame_range: 100K +dataset_size: 19.73 GB +data_structure: 'AgiBot-g1_box_storage_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (84 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:95 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_box_storage_c.yaml b/dataset_info/Tianqing_A2D_box_storage_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..02e559fae4efa75980f6b989836301bb82d0a6d3 --- /dev/null +++ b/dataset_info/Tianqing_A2D_box_storage_c.yaml @@ -0,0 +1,618 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_box_storage_c +dataset_uuid: a55ac5d2-061f-4ff3-9670-41aef4e03037 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the box on the table with the gripper. Place it into the big box with the + gripper. +sub_tasks: +- subtask: Pick up the mouse and power cord box. + subtask_index: 0 +- subtask: Place the mouse and power cord box into the container. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the paper box in the another big box. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Grasp the paper box. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 39 + total_frames: 23361 + fps: 30 + total_tasks: 7 + total_videos: 312 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 10.19 GB +frame_num: 23361 +frame_range: 100K +dataset_size: 10.19 GB +data_structure: 'AgiBot-g1_box_storage_c_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (27 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:38 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_box_storage_cardboard_box_a.yaml b/dataset_info/Tianqing_A2D_box_storage_cardboard_box_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a1b7bcced481e7a8ac738336d754139763c907b3 --- /dev/null +++ b/dataset_info/Tianqing_A2D_box_storage_cardboard_box_a.yaml @@ -0,0 +1,611 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_box_storage_cardboard_box_a +dataset_uuid: 15be5a22-893f-4c6d-8562-afa106f6846f +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: paper_box +- object_name: carton +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Using a robotic arm to pick up a cardboard box with the gripper and place it into + the carton. +sub_tasks: +- subtask: Place the mouse and the power cord paper box into the container. + subtask_index: 0 +- subtask: Pick up the mouse and the power cord paper box. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- place +- pick +- grasp +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 402 + total_frames: 188369 + fps: 30 + total_tasks: 3 + total_videos: 3216 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 87.86 GB +frame_num: 188369 +frame_range: 1M +dataset_size: 87.86 GB +data_structure: 'AgiBot-g1_box_storage_cardboard_box_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (390 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:401 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_box_storage_cardboard_box_b.yaml b/dataset_info/Tianqing_A2D_box_storage_cardboard_box_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e7d54cc62310e58681210ca3132e56617f36105e --- /dev/null +++ b/dataset_info/Tianqing_A2D_box_storage_cardboard_box_b.yaml @@ -0,0 +1,611 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_box_storage_cardboard_box_b +dataset_uuid: 7e28f5b3-7a48-4d52-b01e-390390932ffd +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: paper_box +- object_name: carton +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Using a robotic arm to pick up a cardboard box with the gripper and place it into + the carton. +sub_tasks: +- subtask: Place the mouse and the power cord paper box into the container. + subtask_index: 0 +- subtask: Pick up the mouse and the power cord paper box. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- place +- pick +- grasp +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 247 + total_frames: 115855 + fps: 30 + total_tasks: 3 + total_videos: 1976 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 56.89 GB +frame_num: 115855 +frame_range: 1M +dataset_size: 56.89 GB +data_structure: 'AgiBot-g1_box_storage_cardboard_box_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (235 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:246 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_box_storage_cardboard_box_c.yaml b/dataset_info/Tianqing_A2D_box_storage_cardboard_box_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7b9d02b9bedf1d3de3bbe42642425b69c9cffb44 --- /dev/null +++ b/dataset_info/Tianqing_A2D_box_storage_cardboard_box_c.yaml @@ -0,0 +1,610 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_box_storage_cardboard_box_c +dataset_uuid: f5991bf3-3900-460c-adbd-56e87ac4bbc1 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: carton +- object_name: carton +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up a cardboard box with the robotic arm and place it into the carton. +sub_tasks: +- subtask: Place the mouse and the power cord paper box into the container. + subtask_index: 0 +- subtask: Pick up the mouse and the power cord paper box. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- place +- pick +- grasp +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 476 + total_frames: 230771 + fps: 30 + total_tasks: 3 + total_videos: 3808 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 108.99 GB +frame_num: 230771 +frame_range: 1M +dataset_size: 108.99 GB +data_structure: 'AgiBot-g1_box_storage_cardboard_box_c_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (464 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:475 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_box_storage_e.yaml b/dataset_info/Tianqing_A2D_box_storage_e.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c995624ca388fd689e9ba6b55a3efb0de7dcdde8 --- /dev/null +++ b/dataset_info/Tianqing_A2D_box_storage_e.yaml @@ -0,0 +1,610 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_box_storage_e +dataset_uuid: 6fc368f2-1d50-44e7-ab39-3a3405e14efc +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +- object_name: carton +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up a cardboard box with the robotic arm and place it into the carton. +sub_tasks: +- subtask: Place the mouse and the power cord paper box into the container. + subtask_index: 0 +- subtask: Pick up the mouse and the power cord paper box. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 58 + total_frames: 33264 + fps: 30 + total_tasks: 3 + total_videos: 464 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 12.97 GB +frame_num: 33264 +frame_range: 100K +dataset_size: 12.97 GB +data_structure: 'AgiBot-g1_box_storage_e_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (46 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:57 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_box_storage_part.yaml b/dataset_info/Tianqing_A2D_box_storage_part.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a8ac8c708c83b5fa37acd1200b2199af91853f44 --- /dev/null +++ b/dataset_info/Tianqing_A2D_box_storage_part.yaml @@ -0,0 +1,489 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_box_storage_part +dataset_uuid: 7a1de37c-d8b0-476a-b503-99a0fd93cafd +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: data_cable +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the data cable from the box into another box with the gripper. +sub_tasks: +- subtask: Place the data cable in the another box. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Grasp the data cable. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 1104 + total_frames: 681531 + fps: 30 + total_tasks: 5 + total_videos: 3312 + total_chunks: 2 + chunks_size: 1000 + state_dim: 17 + action_dim: 17 + camera_views: 3 + dataset_size: 25.63 GB +frame_num: 681531 +frame_range: 1M +dataset_size: 25.63 GB +data_structure: 'Tianqin_A2_box_storage_part_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (92 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | |-- chunk-000 + + | | |-- observation.images.cam_high_rgb + + | | |-- observation.images.cam_left_wrist_rgb + + | | `-- observation.images.cam_right_wrist_rgb + + | `-- chunk-001 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:1103 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_box_storage_part_a.yaml b/dataset_info/Tianqing_A2D_box_storage_part_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a7278c5129b28144b014278329c54442f61c6509 --- /dev/null +++ b/dataset_info/Tianqing_A2D_box_storage_part_a.yaml @@ -0,0 +1,612 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_box_storage_part_a +dataset_uuid: 24378624-9647-4aad-82ac-d822bb7bc50d +scene_type: + level1: industry + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: part +- object_name: box +- object_name: tray +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts on the tray with the gripper and place them in the cardboard box + with the gripper. +sub_tasks: +- subtask: Pick up the IO bracket from the container box. + subtask_index: 0 +- subtask: Place the IO bracket into the ingredient slot. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- place +- pick +- grasp +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 335 + total_frames: 205995 + fps: 30 + total_tasks: 3 + total_videos: 2680 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 105.75 GB +frame_num: 205995 +frame_range: 1M +dataset_size: 105.75 GB +data_structure: 'AgiBot-g1_box_storage_part_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (323 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:334 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_box_storage_tool.yaml b/dataset_info/Tianqing_A2D_box_storage_tool.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4daa7885bc542be05f7982de54e80dbc4f5eeeac --- /dev/null +++ b/dataset_info/Tianqing_A2D_box_storage_tool.yaml @@ -0,0 +1,453 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_box_storage_tool +dataset_uuid: 4ed6d684-19e6-4881-9b9f-eabbb1a6789d +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +- object_name: tool +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the tools into the box with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Grasp the data cable. + subtask_index: 2 +- subtask: Place the data cable in the another box. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 32860 + fps: 30 + total_tasks: 5 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + state_dim: 17 + action_dim: 17 + camera_views: 3 + dataset_size: 1.16 GB +frame_num: 32860 +frame_range: 100K +dataset_size: 1.16 GB +data_structure: 'AgiBot-g1_box_storage_tool_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_container_storage_graphics_card.yaml b/dataset_info/Tianqing_A2D_container_storage_graphics_card.yaml new file mode 100644 index 0000000000000000000000000000000000000000..86e5c969ed5925d3c9ab192b50723d38ee1a5b4f --- /dev/null +++ b/dataset_info/Tianqing_A2D_container_storage_graphics_card.yaml @@ -0,0 +1,461 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_container_storage_graphics_card +dataset_uuid: 5059394a-7089-4138-ab9c-db9bfadd94c8 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: black_container +- object_name: graphics_card +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the graphics card from the box, remove the packaging, and place it into + the black container with the gripper. +sub_tasks: +- subtask: Lift the bag. + subtask_index: 0 +- subtask: pick up out the hard disk of the bag. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the down the bag. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: Place the hard disk in the hard disk enclosure. + subtask_index: 5 +- subtask: Grasp the bag. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 280 + total_frames: 277206 + fps: 30 + total_tasks: 8 + total_videos: 840 + total_chunks: 1 + chunks_size: 1000 + state_dim: 17 + action_dim: 17 + camera_views: 3 + dataset_size: 12.03 GB +frame_num: 277206 +frame_range: 1M +dataset_size: 12.03 GB +data_structure: 'Tianqin_A2_container_storage_graphics_card_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (268 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:279 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_left_capture_part.yaml b/dataset_info/Tianqing_A2D_left_capture_part.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bca733983b85acf07e8985f61b049b1c2d9afee7 --- /dev/null +++ b/dataset_info/Tianqing_A2D_left_capture_part.yaml @@ -0,0 +1,610 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_left_capture_part +dataset_uuid: 66d07878-2211-48d2-8cd0-1df8f2cd83a3 +scene_type: + level1: industry + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: part +- object_name: box +- object_name: black_container +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the part with the left gripper and place it on the black container with the + left gripper. +sub_tasks: +- subtask: Pick up the front USB bracket from the feeding area. + subtask_index: 0 +- subtask: Place the front USB bracket into the box. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 464 + total_frames: 174563 + fps: 30 + total_tasks: 3 + total_videos: 3712 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 97.30 GB +frame_num: 174563 +frame_range: 1M +dataset_size: 97.30 GB +data_structure: 'AgiBot-g1_left_capture_part_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (452 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:463 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_mobile_accessory_storage_box_a.yaml b/dataset_info/Tianqing_A2D_mobile_accessory_storage_box_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a0067952037ad56d88259eba8c82ccc94b7079d1 --- /dev/null +++ b/dataset_info/Tianqing_A2D_mobile_accessory_storage_box_a.yaml @@ -0,0 +1,610 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_mobile_accessory_storage_box_a +dataset_uuid: 811a660c-6371-490a-9141-3019afa0cac2 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +- object_name: accessories +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the position of the storage box with accessories on the table with the gripper. +sub_tasks: +- subtask: Place the open mouse box onto the operation table. + subtask_index: 0 +- subtask: pick up and pick up the open mouse box from the accessory packaging area. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 81 + total_frames: 40631 + fps: 30 + total_tasks: 3 + total_videos: 648 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 16.69 GB +frame_num: 40631 +frame_range: 100K +dataset_size: 16.69 GB +data_structure: 'AgiBot-g1_mobile_accessory_storage_box_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (69 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:80 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_mobile_accessory_storage_box_c.yaml b/dataset_info/Tianqing_A2D_mobile_accessory_storage_box_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7a18e1e2c9a9804467dcaaf58e9d8ab46fd7e645 --- /dev/null +++ b/dataset_info/Tianqing_A2D_mobile_accessory_storage_box_c.yaml @@ -0,0 +1,622 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_mobile_accessory_storage_box_c +dataset_uuid: be27952f-4bad-4014-aaf8-ce6946a852d5 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +- object_name: accessories +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the data cable with the left gripper and place it into the box. Grasp the + mouse with the right gripper and place it into the box. +sub_tasks: +- subtask: Grasp the mouse and data cable. + subtask_index: 0 +- subtask: Place the mouse and data cable in the paper box. + subtask_index: 1 +- subtask: Place the data cable in the paper box. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: pick up and pick up the mouse and power cord from the accessory packaging + area. + subtask_index: 4 +- subtask: Abnormal. + subtask_index: 5 +- subtask: Place the mouse and power cord into the box. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 40 + total_frames: 28207 + fps: 30 + total_tasks: 8 + total_videos: 320 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 13.88 GB +frame_num: 28207 +frame_range: 100K +dataset_size: 13.88 GB +data_structure: 'AgiBot-g1_mobile_accessory_storage_box_c_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (28 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:39 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_mobile_accessory_storage_box_d.yaml b/dataset_info/Tianqing_A2D_mobile_accessory_storage_box_d.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe671973a396ac1b17a02d94ffe8ec164d00122e --- /dev/null +++ b/dataset_info/Tianqing_A2D_mobile_accessory_storage_box_d.yaml @@ -0,0 +1,621 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_mobile_accessory_storage_box_d +dataset_uuid: add3803d-befc-4ae5-8bc7-b6d81060cdcf +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +- object_name: accessories +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the position of the storage box with accessories on the table with the gripper. +sub_tasks: +- subtask: Grasp the mouse and data cable. + subtask_index: 0 +- subtask: Place the mouse and data cable in the paper box. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the mouse in the paper box. + subtask_index: 3 +- subtask: pick up and pick up the mouse and power cord from the accessory packaging + area. + subtask_index: 4 +- subtask: Abnormal. + subtask_index: 5 +- subtask: Place the mouse and power cord into the box. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 30 + total_frames: 17860 + fps: 30 + total_tasks: 8 + total_videos: 240 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 7.61 GB +frame_num: 17860 +frame_range: 100K +dataset_size: 7.61 GB +data_structure: 'AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (18 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:29 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_mobile_accessory_storage_box_e.yaml b/dataset_info/Tianqing_A2D_mobile_accessory_storage_box_e.yaml new file mode 100644 index 0000000000000000000000000000000000000000..507874a39b7d73c63bef94d29b7bc0fc1e3fb333 --- /dev/null +++ b/dataset_info/Tianqing_A2D_mobile_accessory_storage_box_e.yaml @@ -0,0 +1,612 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_mobile_accessory_storage_box_e +dataset_uuid: 76ecd9c6-025c-4c06-abcc-de49bc084c86 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +- object_name: accessories +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the data cable with the left gripper and place it into the box. Grasp the + mouse with the right gripper and place it into the box. +sub_tasks: +- subtask: Place the mouse and power cord into the box. + subtask_index: 0 +- subtask: Simultaneously pick up the mouse and power cord from the accessory packaging + area. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 61 + total_frames: 29872 + fps: 30 + total_tasks: 3 + total_videos: 488 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 14.50 GB +frame_num: 29872 +frame_range: 100K +dataset_size: 14.50 GB +data_structure: 'AgiBot-g1_mobile_accessory_storage_box_e_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (49 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:60 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_mobile_accessory_storage_box_f.yaml b/dataset_info/Tianqing_A2D_mobile_accessory_storage_box_f.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e2316eb1f2ba491869bf0aed2fbbfc260f06ea9 --- /dev/null +++ b/dataset_info/Tianqing_A2D_mobile_accessory_storage_box_f.yaml @@ -0,0 +1,611 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_mobile_accessory_storage_box_f +dataset_uuid: 52a333b0-b320-467a-a555-12066d086c01 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +- object_name: accessories +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Move the position of the storage box with accessories on the table with the gripper. +sub_tasks: +- subtask: Place the mouse and power cord into the box. + subtask_index: 0 +- subtask: Simultaneously pick up the mouse and power cord from the accessory packaging + area. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 68 + total_frames: 31735 + fps: 30 + total_tasks: 3 + total_videos: 544 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 12.23 GB +frame_num: 31735 +frame_range: 100K +dataset_size: 12.23 GB +data_structure: 'AgiBot-g1_mobile_accessory_storage_box_f_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (56 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:67 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_pick_up_battery.yaml b/dataset_info/Tianqing_A2D_pick_up_battery.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d5b37297535c57bb8e28ea2a92f9a314ad32c63a --- /dev/null +++ b/dataset_info/Tianqing_A2D_pick_up_battery.yaml @@ -0,0 +1,611 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_pick_up_battery +dataset_uuid: 16b21b98-c079-4363-863b-54db1f5d5ebe +scene_type: + level1: industry + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: carton +- object_name: battery +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the battery from the box with the gripper and place it on the table with + the gripper. +sub_tasks: +- subtask: pick up the main unit power supply from the containment box. + subtask_index: 0 +- subtask: Place the main unit power supply in the designated area. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- place +- pick +- grasp +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 387 + total_frames: 185469 + fps: 30 + total_tasks: 3 + total_videos: 3096 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 95.25 GB +frame_num: 185469 +frame_range: 1M +dataset_size: 95.25 GB +data_structure: 'AgiBot-g1_pick_up_battery_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (375 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:386 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_picks_up_battery_a.yaml b/dataset_info/Tianqing_A2D_picks_up_battery_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a73c3a916998c07f88b2d35cb077be105068f80f --- /dev/null +++ b/dataset_info/Tianqing_A2D_picks_up_battery_a.yaml @@ -0,0 +1,611 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_picks_up_battery_a +dataset_uuid: 3385f559-eb6d-46ff-94d3-a6b48d250220 +scene_type: + level1: industry + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: carton +- object_name: battery +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the battery from the box with the robotic arm and place it in the material + preparation area. +sub_tasks: +- subtask: Place the power supply on the operating table. + subtask_index: 0 +- subtask: pick up and lift the power supply from the large box. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- place +- pick +- grasp +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 562 + total_frames: 214263 + fps: 30 + total_tasks: 3 + total_videos: 4496 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 119.72 GB +frame_num: 214263 +frame_range: 1M +dataset_size: 119.72 GB +data_structure: 'AgiBot-g1_picks_up_battery_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (550 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:561 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_picks_up_battery_b.yaml b/dataset_info/Tianqing_A2D_picks_up_battery_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7165267669d4f29b00173feaa1fcb187494ceb8c --- /dev/null +++ b/dataset_info/Tianqing_A2D_picks_up_battery_b.yaml @@ -0,0 +1,617 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_picks_up_battery_b +dataset_uuid: 69e28097-0f6e-4238-8562-b87280af0714 +scene_type: + level1: industry + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: carton +- object_name: battery +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the battery from the box with the gripper and place it in the material preparation + area. +sub_tasks: +- subtask: Place the power supply on the operating table. + subtask_index: 0 +- subtask: pick up and lift the power supply from the large box. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- place +- pick +- grasp +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 329 + total_frames: 131840 + fps: 30 + total_tasks: 3 + total_videos: 2632 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 71.44 GB +frame_num: 131840 +frame_range: 1M +dataset_size: 71.44 GB +data_structure: 'AgiBot-g1_picks_up_battery_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (317 more entries) + + |-- logs + + | `-- collect + + | `-- collect_20260522163738.log + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:328 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_picks_up_cardboard_box.yaml b/dataset_info/Tianqing_A2D_picks_up_cardboard_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..55d07858ec92f2ee623978ccc796fa86154ec93d --- /dev/null +++ b/dataset_info/Tianqing_A2D_picks_up_cardboard_box.yaml @@ -0,0 +1,617 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_picks_up_cardboard_box +dataset_uuid: d4888396-b8d0-45fe-9fdc-8f4e9300b1fd +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: paper_box +- object_name: carton +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the small cardboard box with the gripper and load it into the large cardboard + box with the gripper. +sub_tasks: +- subtask: Pick up the mouse and power cord box. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the paper box in the another big box. + subtask_index: 2 +- subtask: Grasp the paper box. + subtask_index: 3 +- subtask: Place the mouse and power cord box into the case. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- place +- pick +- grasp +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 277 + total_frames: 149409 + fps: 30 + total_tasks: 6 + total_videos: 2216 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 59.55 GB +frame_num: 149409 +frame_range: 1M +dataset_size: 59.55 GB +data_structure: 'AgiBot-g1_picks_up_cardboard_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (265 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:276 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_picks_up_parts_a.yaml b/dataset_info/Tianqing_A2D_picks_up_parts_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6fe52d15ee8872b58bca2f980b8b0da9ca147042 --- /dev/null +++ b/dataset_info/Tianqing_A2D_picks_up_parts_a.yaml @@ -0,0 +1,611 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_picks_up_parts_a +dataset_uuid: ffa75a2d-6545-468f-86d7-86ae4766cc5a +scene_type: + level1: industry + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts with the mechanical arm and place them on the table with the mechanical + arm. +sub_tasks: +- subtask: Place the hard drive bracket into the box. + subtask_index: 0 +- subtask: Pick up the hard drive bracket from the feeding area. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- place +- pick +- grasp +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 126 + total_frames: 45417 + fps: 30 + total_tasks: 3 + total_videos: 1008 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 22.26 GB +frame_num: 45417 +frame_range: 100K +dataset_size: 22.26 GB +data_structure: 'AgiBot-g1_picks_up_parts_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (114 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:125 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_picks_up_parts_b.yaml b/dataset_info/Tianqing_A2D_picks_up_parts_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fb9b1a5eabce821dc8a9ad60712abd3b6b195353 --- /dev/null +++ b/dataset_info/Tianqing_A2D_picks_up_parts_b.yaml @@ -0,0 +1,611 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_picks_up_parts_b +dataset_uuid: 3c0a2eba-4ba5-472f-8d66-81ef39df434e +scene_type: + level1: industry + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: basket +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the parts with the mechanical arm and place them on the table with the mechanical + arm. +sub_tasks: +- subtask: Place the hard drive bracket into the box. + subtask_index: 0 +- subtask: Pick up the hard drive bracket from the feeding area. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- place +- pick +- grasp +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 824 + total_frames: 274936 + fps: 30 + total_tasks: 3 + total_videos: 6592 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 127.26 GB +frame_num: 274936 +frame_range: 1M +dataset_size: 127.26 GB +data_structure: 'AgiBot-g1_picks_up_parts_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (812 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:823 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_place_the_paper_box.yaml b/dataset_info/Tianqing_A2D_place_the_paper_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6dc31509f8a3c6808b69f2661570be9108d9cabe --- /dev/null +++ b/dataset_info/Tianqing_A2D_place_the_paper_box.yaml @@ -0,0 +1,456 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_place_the_paper_box +dataset_uuid: 291007f6-cfd0-4e23-bc97-da01c0f367ac +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the paper box with the gripper and place it at the back. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Grasp the paper box. + subtask_index: 2 +- subtask: Place the paper box on the table. + subtask_index: 3 +- subtask: Place the data cable in the another box. + subtask_index: 4 +- subtask: Grasp the data cable. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 236 + total_frames: 94841 + fps: 30 + total_tasks: 7 + total_videos: 708 + total_chunks: 1 + chunks_size: 1000 + state_dim: 17 + action_dim: 17 + camera_views: 3 + dataset_size: 3.02 GB +frame_num: 94841 +frame_range: 100K +dataset_size: 3.02 GB +data_structure: 'Tianqin_A2_place_the_paper_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (224 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:235 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_remove_the_accessory.yaml b/dataset_info/Tianqing_A2D_remove_the_accessory.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a5c9af61e1b577ccff1d4f2ddc616f6758323501 --- /dev/null +++ b/dataset_info/Tianqing_A2D_remove_the_accessory.yaml @@ -0,0 +1,611 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_remove_the_accessory +dataset_uuid: fcba76dc-2672-4dc1-9b8e-b375ede64077 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +- object_name: accessories +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the accessories out of the box with the gripper and place them on the table + with the gripper. +sub_tasks: +- subtask: Place the hard drive bracket into the box. + subtask_index: 0 +- subtask: Pick up the hard drive bracket from the feeding area. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 68 + total_frames: 27353 + fps: 30 + total_tasks: 3 + total_videos: 544 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 14.76 GB +frame_num: 27353 +frame_range: 100K +dataset_size: 14.76 GB +data_structure: 'AgiBot-g1_remove_the_accessory_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (56 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:67 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_right_capture_part.yaml b/dataset_info/Tianqing_A2D_right_capture_part.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d73850ce0b963cb0e7c81aae87b14c93bd965b05 --- /dev/null +++ b/dataset_info/Tianqing_A2D_right_capture_part.yaml @@ -0,0 +1,610 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_right_capture_part +dataset_uuid: 3bab35b2-895e-4796-be8a-198ba6e5baa8 +scene_type: + level1: industry + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: part +- object_name: box +- object_name: black_container +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the part with the right gripper and place it on the black container with the + right gripper. +sub_tasks: +- subtask: Place the front USB bracket into the box. + subtask_index: 0 +- subtask: Pick up and lift the front USB bracket from the feeding area. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 57 + total_frames: 27866 + fps: 30 + total_tasks: 3 + total_videos: 456 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 13.13 GB +frame_num: 27866 +frame_range: 100K +dataset_size: 13.13 GB +data_structure: 'AgiBot-g1_right_capture_part_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (45 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:56 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_robotic_arm_picks_up_battery.yaml b/dataset_info/Tianqing_A2D_robotic_arm_picks_up_battery.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d2b113734828a8a8be6bf48872ecb4d7ccd326cb --- /dev/null +++ b/dataset_info/Tianqing_A2D_robotic_arm_picks_up_battery.yaml @@ -0,0 +1,610 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_robotic_arm_picks_up_battery +dataset_uuid: 14af3598-fff7-4c0b-bca2-16c57884c70e +scene_type: + level1: industry + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: carton +- object_name: battery +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the battery with the gripper and place it on the table. +sub_tasks: +- subtask: Place the power supply on the operating table. + subtask_index: 0 +- subtask: pick up and lift the power supply from the large box. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- place +- pick +- grasp +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 56 + total_frames: 30215 + fps: 30 + total_tasks: 3 + total_videos: 448 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 17.91 GB +frame_num: 30215 +frame_range: 100K +dataset_size: 17.91 GB +data_structure: 'AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (44 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:55 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_robotic_arm_picks_up_parts.yaml b/dataset_info/Tianqing_A2D_robotic_arm_picks_up_parts.yaml new file mode 100644 index 0000000000000000000000000000000000000000..533b1d41e3e781722745eff0843f8504e383e72a --- /dev/null +++ b/dataset_info/Tianqing_A2D_robotic_arm_picks_up_parts.yaml @@ -0,0 +1,610 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_robotic_arm_picks_up_parts +dataset_uuid: 9d81f45b-a37d-46ad-b5cd-899737518fb6 +scene_type: + level1: industry + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: black_container +- object_name: parts +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up parts with the gripper and place them into a black container. +sub_tasks: +- subtask: Place the hard drive bracket into the box. + subtask_index: 0 +- subtask: Pick up the hard drive bracket from the feeding area. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- place +- pick +- grasp +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 53 + total_frames: 30190 + fps: 30 + total_tasks: 3 + total_videos: 424 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 14.97 GB +frame_num: 30190 +frame_range: 100K +dataset_size: 14.97 GB +data_structure: 'AgiBot-g1_robotic_arm_picks_up_parts_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (41 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:52 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_storage_item_b.yaml b/dataset_info/Tianqing_A2D_storage_item_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7294873f5fcb0daac8aa3cb391b65ed8828ec6ed --- /dev/null +++ b/dataset_info/Tianqing_A2D_storage_item_b.yaml @@ -0,0 +1,613 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_storage_item_b +dataset_uuid: 6dc0fd94-f3bf-4d74-8dca-8b8723050f7d +scene_type: + level1: industry + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: data_cable +- object_name: box +- object_name: mouse +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the data cable with the left gripper and place it into the box. Grasp the + mouse with the right gripper and place it into the box. +sub_tasks: +- subtask: Place the mouse and power cord into the box. + subtask_index: 0 +- subtask: Simultaneously pick up the mouse and power cord from the accessory packaging + area. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 106 + total_frames: 48184 + fps: 30 + total_tasks: 3 + total_videos: 848 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 21.25 GB +frame_num: 48184 +frame_range: 100K +dataset_size: 21.25 GB +data_structure: 'AgiBot-g1_storage_item_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (94 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:105 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_storage_item_d.yaml b/dataset_info/Tianqing_A2D_storage_item_d.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ff121d321e82c8a40f28925116f9e091c2bffb4c --- /dev/null +++ b/dataset_info/Tianqing_A2D_storage_item_d.yaml @@ -0,0 +1,613 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_storage_item_d +dataset_uuid: 49f10ba2-bad7-46fc-ae4b-f6142efa81a2 +scene_type: + level1: industry + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: data_cable +- object_name: box +- object_name: mouse +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Grasp the data cable with the left gripper and place it into the box. Grasp the + mouse with the right gripper and place it into the box. +sub_tasks: +- subtask: pick up and pick up both the mouse and power cord from the accessory packaging + area at the same time. + subtask_index: 0 +- subtask: Place the mouse and power cord into the box. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 450 + total_frames: 180148 + fps: 30 + total_tasks: 3 + total_videos: 3600 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 86.05 GB +frame_num: 180148 +frame_range: 1M +dataset_size: 86.05 GB +data_structure: 'AgiBot-g1_storage_item_d_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (438 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:449 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_storage_item_e.yaml b/dataset_info/Tianqing_A2D_storage_item_e.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5a0ad2d2c9c35057904664227ec2d18761397a86 --- /dev/null +++ b/dataset_info/Tianqing_A2D_storage_item_e.yaml @@ -0,0 +1,612 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_storage_item_e +dataset_uuid: 6d8ca1f6-f9cf-4b0c-bef5-fca799793086 +scene_type: + level1: industry + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: data_cable +- object_name: box +- object_name: mouse +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the data cable and mouse into the box with the gripper. +sub_tasks: +- subtask: pick up and lift both the mouse and power cord from the accessory packaging + area at the same time. + subtask_index: 0 +- subtask: Place the mouse and power cord into the box. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 507 + total_frames: 212067 + fps: 30 + total_tasks: 3 + total_videos: 4056 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 92.76 GB +frame_num: 212067 +frame_range: 1M +dataset_size: 92.76 GB +data_structure: 'AgiBot-g1_storage_item_e_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (495 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:506 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Tianqing_A2D_tool_storage.yaml b/dataset_info/Tianqing_A2D_tool_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aec381f0922865232370592aa6b091df1dd77ffd --- /dev/null +++ b/dataset_info/Tianqing_A2D_tool_storage.yaml @@ -0,0 +1,611 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Tianqing_A2D_tool_storage +dataset_uuid: 4681c572-c9b2-475c-b9c1-66ed9f3d533d +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +- object_name: mouse_storage +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the mouse into the box with the gripper. +sub_tasks: +- subtask: Place the mouse and power cord into the box. + subtask_index: 0 +- subtask: pick up and lift both the mouse and power cord from the accessory packaging + area at the same time. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- place +- pick +robot_name: Tianqing_A2D +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_back_left_fisheye_rgb +- cam_back_right_fisheye_rgb +- cam_high_center_fisheye_rgb +- cam_high_left_fisheye_rgb +- cam_high_right_fisheye_rgb +came_info: + cam_high_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=av1, + pix_fmt=yuv420p + cam_back_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_back_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_center_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_left_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p + cam_high_right_fisheye_rgb: dtype=video, shape=1536x1920x3, resolution=1920x1536, + codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 67 + total_frames: 30600 + fps: 30 + total_tasks: 3 + total_videos: 536 + total_chunks: 1 + chunks_size: 1000 + state_dim: 41 + action_dim: 34 + camera_views: 8 + dataset_size: 13.45 GB +frame_num: 30600 +frame_range: 100K +dataset_size: 13.45 GB +data_structure: 'AgiBot-g1_tool_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (55 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_back_left_fisheye_rgb + + | |-- observation.images.cam_back_right_fisheye_rgb + + | |-- observation.images.cam_high_center_fisheye_rgb + + | |-- observation.images.cam_high_left_fisheye_rgb + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_high_right_fisheye_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:66 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_center_fisheye_rgb/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_basket_storage_apple.yaml b/dataset_info/Unitree_G1edu-u3_basket_storage_apple.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0fcba8f14994d27aeadf38c520c289eeaeacc633 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_basket_storage_apple.yaml @@ -0,0 +1,447 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_basket_storage_apple +dataset_uuid: ad45e74b-fccc-4f12-9f34-a2312636f61c +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: apple +- object_name: basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the apple from the table with the gripper and place it into the basket with + the gripper. +sub_tasks: +- subtask: Grasp the apple with the left gripper. + subtask_index: 0 +- subtask: Place the apple into the basket with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Move the basket to the front of the table with the right gripper. + subtask_index: 4 +- subtask: Grasp the basket with the right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- color_left_wrist +- color_right_wrist +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + color_left_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + color_right_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 88 + total_frames: 45574 + fps: 30 + total_tasks: 7 + total_videos: 264 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 1.54 GB +frame_num: 45574 +frame_range: 100K +dataset_size: 1.54 GB +data_structure: 'G1edu-u3_basket_storage_apple_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (76 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.color_left_wrist + + | `-- observation.images.color_right_wrist + + |-- info.yaml + + `-- README.md' +splits: + train: 0:87 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_basket_storage_apple_b.yaml b/dataset_info/Unitree_G1edu-u3_basket_storage_apple_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..78375af6670979721eaa449b8593e32a408b7674 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_basket_storage_apple_b.yaml @@ -0,0 +1,438 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_basket_storage_apple_b +dataset_uuid: 8c0ab1ee-eb0f-48a0-a7be-ff698d2f4651 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: apple +- object_name: basket +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the apples into the basket with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the grapes in the plate with left gripper. + subtask_index: 1 +- subtask: Grasp the grapes with left gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- pick +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_left_high +- cam_left_wrist +- cam_right_wrist +came_info: + cam_left_high: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_left_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_right_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 241 + total_frames: 118352 + fps: 30 + total_tasks: 4 + total_videos: 723 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 2.34 GB +frame_num: 118352 +frame_range: 1M +dataset_size: 2.34 GB +data_structure: 'G1edu-u3_basket_storage_apple_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (229 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_high + + | |-- observation.images.cam_left_wrist + + | `-- observation.images.cam_right_wrist + + |-- info.yaml + + `-- README.md' +splits: + train: 0:240 +features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_high/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_high/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_bowl_storage_grape_singletry.yaml b/dataset_info/Unitree_G1edu-u3_bowl_storage_grape_singletry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fb2739ac243979e4e18457756e79bda9f2b76a25 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_bowl_storage_grape_singletry.yaml @@ -0,0 +1,446 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_bowl_storage_grape_singletry +dataset_uuid: 40947b8c-339b-414f-94d9-6d5f24520362 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bread +- object_name: bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the bread from the table and place it into the bowl. +sub_tasks: +- subtask: Grasp the grapes with left gripper. + subtask_index: 0 +- subtask: Grasp the bread with the left gripper. + subtask_index: 1 +- subtask: Static. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the bread the bowl with the left gripper. + subtask_index: 4 +- subtask: Place the grapes in the plate with left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Unitree_G1edu-u3 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_left_high +- cam_left_wrist +- cam_right_wrist +came_info: + cam_left_high: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_left_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_right_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 242 + total_frames: 119619 + fps: 30 + total_tasks: 7 + total_videos: 726 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 2.36 GB +frame_num: 119619 +frame_range: 1M +dataset_size: 2.36 GB +data_structure: 'G1edu-u3_bowl_storage_grape_singletry_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (230 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_high + + | |-- observation.images.cam_left_wrist + + | `-- observation.images.cam_right_wrist + + |-- info.yaml + + `-- README.md' +splits: + train: 0:241 +features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_high/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_high/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_food_storage.yaml b/dataset_info/Unitree_G1edu-u3_food_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8899e32b070da44cb12ca32e24039c6dc0b2da4f --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_food_storage.yaml @@ -0,0 +1,454 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_food_storage +dataset_uuid: 4f2a72fa-3388-401a-ab17-b437417cce23 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plate +- object_name: basket +- object_name: bowl +- object_name: donut +- object_name: cake +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the donut from the bowl with the gripper and place it on the plate. Pick + up the cake from the bowl with the gripper and place it into the basket. +sub_tasks: +- subtask: Grasp the bowl with the left gripper. + subtask_index: 0 +- subtask: Pour the cake into the basket with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Place the bowl in the center of the table with the left gripper. + subtask_index: 3 +- subtask: Pick up the bread with the right gripper and place it on the plate. + subtask_index: 4 +- subtask: Place the bowl on the table with the left gripper. + subtask_index: 5 +- subtask: Push the bowl to the center of the table using the left gripper. + subtask_index: 6 +- subtask: Abnormal. + subtask_index: 7 +- subtask: null. + subtask_index: 8 +atomic_actions: +- grasp +- pick +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- color_left_wrist +- color_right_wrist +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + color_left_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + color_right_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 190 + total_frames: 316377 + fps: 30 + total_tasks: 9 + total_videos: 570 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 13.60 GB +frame_num: 316377 +frame_range: 1M +dataset_size: 13.60 GB +data_structure: 'G1edu-u3_food_storage_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (178 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.color_left_wrist + + | `-- observation.images.color_right_wrist + + |-- info.yaml + + `-- README.md' +splits: + train: 0:189 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_little_tray_storage_apple_b.yaml b/dataset_info/Unitree_G1edu-u3_little_tray_storage_apple_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..28f518ee1bb0b67757357550f2201bc474326a09 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_little_tray_storage_apple_b.yaml @@ -0,0 +1,389 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_little_tray_storage_apple_b +dataset_uuid: eddea5f5-2b14-472e-a8a5-7cdb15b1e6b5 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: apple +- object_name: tray +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the apples in the little tray with the gripper. +sub_tasks: +- subtask: Place the apple on the orange plate with right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the apple on the orange plate with left gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- pick +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 15 + fps: 30 + total_frames: 3928 + total_tasks: 4 + total_videos: 15 + total_chunks: 1 + chunks_size: 15 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 51.18 MB +frame_num: 3928 +frame_range: 10K +dataset_size: 51.18 MB +data_structure: 'G1edu-u3_little_tray_storage_apple_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (3 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:14 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_little_tray_storage_lemon_b.yaml b/dataset_info/Unitree_G1edu-u3_little_tray_storage_lemon_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b764a0ef386d84a194c2ae8c028962a60ed6896f --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_little_tray_storage_lemon_b.yaml @@ -0,0 +1,389 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_little_tray_storage_lemon_b +dataset_uuid: 7150e18c-8f80-44c3-934f-40eac73ed334 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: lemon +- object_name: tray +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the lemon in the little tray with the gripper. +sub_tasks: +- subtask: Place the lemon on the orange plate with right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the lemon on the orange plate with left gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- pick +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 14 + fps: 30 + total_frames: 3028 + total_tasks: 4 + total_videos: 14 + total_chunks: 1 + chunks_size: 14 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 39.29 MB +frame_num: 3028 +frame_range: 10K +dataset_size: 39.29 MB +data_structure: 'G1edu-u3_little_tray_storage_lemon_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (2 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:13 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_apple_a.yaml b/dataset_info/Unitree_G1edu-u3_pick_apple_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d7ef5dd45fc3855d1249cf281e9e74ef9e9879ad --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_apple_a.yaml @@ -0,0 +1,388 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_apple_a +dataset_uuid: 6afbbc46-1a5f-434d-bfe5-7a7ae32db479 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: apple +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the apple on the table with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the apple and lift it to the center of the view with right gripper. + subtask_index: 1 +- subtask: Grasp the apple and lift it to the center of the view with left gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +robot_name: Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 40 + fps: 30 + total_frames: 15439 + total_tasks: 4 + total_videos: 40 + total_chunks: 1 + chunks_size: 40 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 208.39 MB +frame_num: 15439 +frame_range: 100K +dataset_size: 208.39 MB +data_structure: 'G1edu-u3_pick_apple_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (28 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:39 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_apple_b.yaml b/dataset_info/Unitree_G1edu-u3_pick_apple_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3bb22931120db50371e22f870d07026f9c09510e --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_apple_b.yaml @@ -0,0 +1,388 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_apple_b +dataset_uuid: 5cb12579-7559-4cdb-b6c3-8ffb1f039b19 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: apple +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the apple on the table with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the apple and lift it to the center of the view with right gripper. + subtask_index: 1 +- subtask: Grasp the apple and lift it to the center of the view with left gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +robot_name: Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 26 + fps: 30 + total_frames: 8289 + total_tasks: 4 + total_videos: 26 + total_chunks: 1 + chunks_size: 26 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 102.42 MB +frame_num: 8289 +frame_range: 10K +dataset_size: 102.42 MB +data_structure: 'G1edu-u3_pick_apple_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (14 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:25 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_crumpled_paper_aa.yaml b/dataset_info/Unitree_G1edu-u3_pick_crumpled_paper_aa.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5dd744064574f108a6c408d54406c3775587ce6c --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_crumpled_paper_aa.yaml @@ -0,0 +1,391 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_crumpled_paper_aa +dataset_uuid: b6576ff7-68ba-498d-a50c-c97bad67554e +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: paper +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the crumpled paper on the table. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the paper ball and lift it to the center of the view with right gripper. + subtask_index: 1 +- subtask: Grasp the paper ball and lift it to the center of the view with left gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 13 + fps: 30 + total_frames: 4485 + total_tasks: 5 + total_videos: 13 + total_chunks: 1 + chunks_size: 13 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 58.93 MB +frame_num: 4485 +frame_range: 10K +dataset_size: 58.93 MB +data_structure: 'G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (1 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:12 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_cup_a.yaml b/dataset_info/Unitree_G1edu-u3_pick_cup_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b293c0f9d5ef40531174a83b851040a4c1231fcb --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_cup_a.yaml @@ -0,0 +1,388 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_cup_a +dataset_uuid: 6c4e6e81-bded-43dc-a803-02147d6eb107 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the cup on the table with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the paper cup and lift it to the center of the view with right gripper. + subtask_index: 1 +- subtask: Grasp the paper cup and lift it to the center of the view with left gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +robot_name: Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 24 + fps: 30 + total_frames: 8046 + total_tasks: 4 + total_videos: 24 + total_chunks: 1 + chunks_size: 24 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 88.38 MB +frame_num: 8046 +frame_range: 10K +dataset_size: 88.38 MB +data_structure: 'G1edu-u3_pick_cup_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (12 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:23 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_empty_bottle_ab.yaml b/dataset_info/Unitree_G1edu-u3_pick_empty_bottle_ab.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ec9550475a0f30f7dde9eb8003745e8df3a48b4c --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_empty_bottle_ab.yaml @@ -0,0 +1,388 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_empty_bottle_ab +dataset_uuid: e8eb32c9-9e05-4189-9718-badce6a3ac0b +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: empty_bottle +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the empty bottle on the table. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the cola bottle and lift it to the center of the view with right + gripper. + subtask_index: 1 +- subtask: Grasp the cola bottle and lift it to the center of the view with left gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 11 + fps: 30 + total_frames: 3290 + total_tasks: 5 + total_videos: 11 + total_chunks: 1 + chunks_size: 11 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 45.39 MB +frame_num: 3290 +frame_range: 10K +dataset_size: 45.39 MB +data_structure: 'G1edu-u3_pick_empty_bottle_ab_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | `-- episode_000010.parquet + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:10 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_leftover_food_ac.yaml b/dataset_info/Unitree_G1edu-u3_pick_leftover_food_ac.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aa4684b27f7bfa713a96bc8e48a51fef578baaed --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_leftover_food_ac.yaml @@ -0,0 +1,392 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_leftover_food_ac +dataset_uuid: 31bb63f2-f1c2-48b4-bc7f-98e365933e8f +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: leftover_food +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the leftover food on the table. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Abnormal. + subtask_index: 1 +- subtask: Grasp the bagged food and lift it to the center of the view with left gripper. + subtask_index: 2 +- subtask: Grasp the bagged food and lift it to the center of the view with right + gripper. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 14 + fps: 30 + total_frames: 4666 + total_tasks: 5 + total_videos: 14 + total_chunks: 1 + chunks_size: 14 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 62.98 MB +frame_num: 4666 +frame_range: 10K +dataset_size: 62.98 MB +data_structure: 'G1edu-u3_pick_leftover_food_ac_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (2 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:13 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_metal_bowl_aa.yaml b/dataset_info/Unitree_G1edu-u3_pick_metal_bowl_aa.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a769262e0c84c97138e9e5ad8a8378ae78520db2 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_metal_bowl_aa.yaml @@ -0,0 +1,391 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_metal_bowl_aa +dataset_uuid: e1af01c7-7aea-4e21-a205-cadda0c4620b +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: metal_bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the metal bowl on the table. +sub_tasks: +- subtask: Grasp the metal bowl and lift it to the center of the view with left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the metal bowl and lift it to the center of the view with right gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 35 + fps: 30 + total_frames: 15548 + total_tasks: 5 + total_videos: 35 + total_chunks: 1 + chunks_size: 35 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 220.99 MB +frame_num: 15548 +frame_range: 100K +dataset_size: 220.99 MB +data_structure: 'G1edu-u3_pick_metal_bowl_aa_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (23 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:34 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_metal_bowl_ab.yaml b/dataset_info/Unitree_G1edu-u3_pick_metal_bowl_ab.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5f9b675804884f20c27d1a5ac0c2831a9ad5fe04 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_metal_bowl_ab.yaml @@ -0,0 +1,389 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_metal_bowl_ab +dataset_uuid: 988d81c9-a23a-4a67-9613-aed7fcecf7e3 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: metal_bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the metal bowl on the table. +sub_tasks: +- subtask: Grasp the metal bowl and lift it to the center of the view with left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the metal bowl and lift it to the center of the view with right gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 36 + fps: 30 + total_frames: 11322 + total_tasks: 4 + total_videos: 36 + total_chunks: 1 + chunks_size: 37 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 158.41 MB +frame_num: 11322 +frame_range: 100K +dataset_size: 158.41 MB +data_structure: 'G1edu-u3_pick_metal_bowl_ab_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (24 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:35 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_plastic_bowl_ac.yaml b/dataset_info/Unitree_G1edu-u3_pick_plastic_bowl_ac.yaml new file mode 100644 index 0000000000000000000000000000000000000000..285c0802fa6097fce11e8882caddb80e4f3662c6 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_plastic_bowl_ac.yaml @@ -0,0 +1,391 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_plastic_bowl_ac +dataset_uuid: 8b3bc197-5de6-4704-a513-0c7fbf7f29ed +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plastic_bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the plastic bowl on the table. +sub_tasks: +- subtask: Grasp the plastic bowl and lift it to the center of the view with left + gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the plastic bowl and lift it to the center of the view with right + gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 32 + fps: 30 + total_frames: 12573 + total_tasks: 4 + total_videos: 32 + total_chunks: 1 + chunks_size: 32 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 175.80 MB +frame_num: 12573 +frame_range: 100K +dataset_size: 175.80 MB +data_structure: 'G1edu-u3_pick_plastic_bowl_ac_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (20 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:31 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_plastic_bowl_ad.yaml b/dataset_info/Unitree_G1edu-u3_pick_plastic_bowl_ad.yaml new file mode 100644 index 0000000000000000000000000000000000000000..686f10117e5c112dda4375067184f728d3cd359f --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_plastic_bowl_ad.yaml @@ -0,0 +1,391 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_plastic_bowl_ad +dataset_uuid: 2efbcfc7-6d0c-4d2f-873c-534fe35c6c26 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plastic_bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the plastic bowl on the table. +sub_tasks: +- subtask: Grasp the plastic bowl and lift it to the center of the view with left + gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the plastic bowl and lift it to the center of the view with right + gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 32 + fps: 30 + total_frames: 10038 + total_tasks: 4 + total_videos: 32 + total_chunks: 1 + chunks_size: 33 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 144.03 MB +frame_num: 10038 +frame_range: 100K +dataset_size: 144.03 MB +data_structure: 'G1edu-u3_pick_plastic_bowl_ad_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (20 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:31 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_up_the_bottled_water_a.yaml b/dataset_info/Unitree_G1edu-u3_pick_up_the_bottled_water_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..60d30cfa8a63e8cad5c140cab24399439d91bfdb --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_up_the_bottled_water_a.yaml @@ -0,0 +1,393 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_up_the_bottled_water_a +dataset_uuid: e56a77d6-dbe5-4d31-a397-61ccb616903c +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bottle +- object_name: water +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the water bottle on the table with the gripper. +sub_tasks: +- subtask: Grasp the water bottle and lift it to the center of the view with right + gripper. + subtask_index: 0 +- subtask: Grasp the water bottle and lift it to the center of the view with left + gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +robot_name: Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 29 + fps: 30 + total_frames: 12057 + total_tasks: 5 + total_videos: 29 + total_chunks: 1 + chunks_size: 29 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 153.01 MB +frame_num: 12057 +frame_range: 100K +dataset_size: 153.01 MB +data_structure: 'G1edu-u3_pick_up_the_bottled_water_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (17 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:28 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_up_the_bottled_water_as.yaml b/dataset_info/Unitree_G1edu-u3_pick_up_the_bottled_water_as.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9d1aa669651deb7a281f96f35755a5d7cfd8bbf7 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_up_the_bottled_water_as.yaml @@ -0,0 +1,394 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_up_the_bottled_water_as +dataset_uuid: a5f8649a-a1ab-415a-9fd4-b48b04fab77e +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bottle +- object_name: water +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the water bottle on the table. +sub_tasks: +- subtask: Grasp the water bottle and lift it to the center of the view with right + gripper. + subtask_index: 0 +- subtask: Grasp the water bottle and lift it to the center of the view with left + gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 24 + fps: 30 + total_frames: 9753 + total_tasks: 5 + total_videos: 24 + total_chunks: 1 + chunks_size: 24 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 116.56 MB +frame_num: 9753 +frame_range: 10K +dataset_size: 116.56 MB +data_structure: 'G1edu-u3_pick_up_the_bottled_water_as_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (12 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:23 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_up_the_bottled_water_b.yaml b/dataset_info/Unitree_G1edu-u3_pick_up_the_bottled_water_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..476ae04f622edfe71a35b37e089e7ba36f0b754a --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_up_the_bottled_water_b.yaml @@ -0,0 +1,393 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_up_the_bottled_water_b +dataset_uuid: fed7136f-3c38-4756-81e4-f9e2dd2eaad5 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bottle +- object_name: water +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the water bottle on the table with the gripper. +sub_tasks: +- subtask: Grasp the water bottle and lift it to the center of the view with right + gripper. + subtask_index: 0 +- subtask: Grasp the water bottle and lift it to the center of the view with left + gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +robot_name: Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 30 + fps: 30 + total_frames: 10067 + total_tasks: 5 + total_videos: 30 + total_chunks: 1 + chunks_size: 31 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 125.25 MB +frame_num: 10067 +frame_range: 100K +dataset_size: 125.25 MB +data_structure: 'G1edu-u3_pick_up_the_bottled_water_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (18 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:29 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_up_the_bread_az.yaml b/dataset_info/Unitree_G1edu-u3_pick_up_the_bread_az.yaml new file mode 100644 index 0000000000000000000000000000000000000000..860193e055116f16ac4975c0103a3526b0956685 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_up_the_bread_az.yaml @@ -0,0 +1,391 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_up_the_bread_az +dataset_uuid: 95b46832-04a8-4073-b033-dbe0d38fe742 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bread +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the bread on the table. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the long bread and lift it to the center of the view with left gripper. + subtask_index: 1 +- subtask: Grasp the long bread and lift it to the center of the view with right gripper. + subtask_index: 2 +- subtask: Abnormal. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 26 + fps: 30 + total_frames: 14542 + total_tasks: 5 + total_videos: 26 + total_chunks: 1 + chunks_size: 27 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 169.68 MB +frame_num: 14542 +frame_range: 100K +dataset_size: 169.68 MB +data_structure: 'G1edu-u3_pick_up_the_bread_az_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (14 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:25 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_up_the_lemon_a.yaml b/dataset_info/Unitree_G1edu-u3_pick_up_the_lemon_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e84dbc7afe20eb565ea908e097a370ea7b4694ff --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_up_the_lemon_a.yaml @@ -0,0 +1,388 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_up_the_lemon_a +dataset_uuid: 4941259a-6f5a-49a6-b04e-e52c4e5759dc +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: lemon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the lemon on the table with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the lemon and lift it to the center of the view with left gripper. + subtask_index: 1 +- subtask: Grasp the lemon and lift it to the center of the view with right gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- pick +robot_name: Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 23 + fps: 30 + total_frames: 8915 + total_tasks: 4 + total_videos: 23 + total_chunks: 1 + chunks_size: 23 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 107.57 MB +frame_num: 8915 +frame_range: 10K +dataset_size: 107.57 MB +data_structure: 'G1edu-u3_pick_up_the_lemon_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (11 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:22 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_up_the_lemon_at.yaml b/dataset_info/Unitree_G1edu-u3_pick_up_the_lemon_at.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d28ca6354cdb7a4f0a6f35a32922a06a6ce23c92 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_up_the_lemon_at.yaml @@ -0,0 +1,391 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_up_the_lemon_at +dataset_uuid: 9965d331-a329-49c0-ae89-355a299338f1 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: lemon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the lemon on the table. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Grasp the lemon and lift it to the center of the view with left gripper. + subtask_index: 1 +- subtask: Abnormal. + subtask_index: 2 +- subtask: Grasp the lemon and lift it to the center of the view with right gripper. + subtask_index: 3 +- subtask: null. + subtask_index: 4 +atomic_actions: +- grasp +- pick +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 26 + fps: 30 + total_frames: 8538 + total_tasks: 5 + total_videos: 26 + total_chunks: 1 + chunks_size: 26 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 84.47 MB +frame_num: 8538 +frame_range: 10K +dataset_size: 84.47 MB +data_structure: 'G1edu-u3_pick_up_the_lemon_at_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (14 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:25 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_up_the_tissue_box_ao.yaml b/dataset_info/Unitree_G1edu-u3_pick_up_the_tissue_box_ao.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3537c95ba2e3e6c6de83c8ee9a258426eddf2eda --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_up_the_tissue_box_ao.yaml @@ -0,0 +1,388 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_up_the_tissue_box_ao +dataset_uuid: 3adf4438-1317-4ffb-9447-b4dd516c8559 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +- object_name: tissue +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the tissue box on the table. +sub_tasks: +- subtask: Grasp the tissue box and lift it to the center of the view with both gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- pick +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 29 + fps: 30 + total_frames: 21166 + total_tasks: 3 + total_videos: 29 + total_chunks: 1 + chunks_size: 29 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 273.81 MB +frame_num: 21166 +frame_range: 100K +dataset_size: 273.81 MB +data_structure: 'G1edu-u3_pick_up_the_tissue_box_ao_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (17 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:28 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pick_up_the_toy_ai.yaml b/dataset_info/Unitree_G1edu-u3_pick_up_the_toy_ai.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fcea5939f5c1a24490c048b0ba1090d3773e9a18 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pick_up_the_toy_ai.yaml @@ -0,0 +1,383 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pick_up_the_toy_ai +dataset_uuid: 804260a5-c07f-432e-9080-8112b837464a +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: toy +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the toy on the table. +sub_tasks: +- subtask: End + subtask_index: 0 +- subtask: Grasp the toy bear and lift it to the center of the view with right gripper + subtask_index: 1 +- subtask: Grasp the toy bear and lift it to the center of the view with left gripper + subtask_index: 2 +- subtask: 'null' + subtask_index: 3 +atomic_actions: +- grasp +- pick +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 10 + fps: 30 + total_frames: 3242 + total_tasks: 4 + total_videos: 10 + total_chunks: 1 + chunks_size: 10 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 44.79 MB +frame_num: 3242 +frame_range: 10K +dataset_size: 44.79 MB +data_structure: 'G1edu-u3_pick_up_the_toy_ai_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | `-- episode_000009.parquet + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:9 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_place_apple_c.yaml b/dataset_info/Unitree_G1edu-u3_place_apple_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7d5bd1a5b738bad429facbff2390b5b3c865426 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_place_apple_c.yaml @@ -0,0 +1,388 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_place_apple_c +dataset_uuid: fadd4ee3-65b3-497e-a817-3885814cab0c +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: apple +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the apple on the table with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the apple on the table with right gripper. + subtask_index: 1 +- subtask: Place the apple on the table with left gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- pick +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 29 + fps: 30 + total_frames: 6567 + total_tasks: 4 + total_videos: 29 + total_chunks: 1 + chunks_size: 30 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 81.57 MB +frame_num: 6567 +frame_range: 10K +dataset_size: 81.57 MB +data_structure: 'G1edu-u3_place_apple_c_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (17 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:28 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_place_bottle_c.yaml b/dataset_info/Unitree_G1edu-u3_place_bottle_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..309cb5cd846f589be348e19a31031268532137a6 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_place_bottle_c.yaml @@ -0,0 +1,388 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_place_bottle_c +dataset_uuid: 5e6d1031-7c1e-4cd5-a371-1682b697fabd +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bottle +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the bottle on the table with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the water bottle on the table with left gripper. + subtask_index: 1 +- subtask: Place the water bottle on the table with right gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 29 + fps: 30 + total_frames: 7277 + total_tasks: 4 + total_videos: 29 + total_chunks: 1 + chunks_size: 30 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 92.28 MB +frame_num: 7277 +frame_range: 10K +dataset_size: 92.28 MB +data_structure: 'G1edu-u3_place_bottle_c_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (17 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:28 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_place_metal_bowl_ae.yaml b/dataset_info/Unitree_G1edu-u3_place_metal_bowl_ae.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cd420b8fb69162971502a991ef65d5f63bc35ef9 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_place_metal_bowl_ae.yaml @@ -0,0 +1,389 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_place_metal_bowl_ae +dataset_uuid: 58ed5982-2a5f-4762-a995-5d590a2beeb4 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: metal_bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- put the metal bowl on the table. +sub_tasks: +- subtask: Place the metal bowl on the table with left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the metal bowl on the table with right gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- pick +- place +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 38 + fps: 30 + total_frames: 7884 + total_tasks: 4 + total_videos: 38 + total_chunks: 1 + chunks_size: 39 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 120.37 MB +frame_num: 7884 +frame_range: 10K +dataset_size: 120.37 MB +data_structure: 'G1edu-u3_place_metal_bowl_ae_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (26 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:37 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_place_metal_bowl_af.yaml b/dataset_info/Unitree_G1edu-u3_place_metal_bowl_af.yaml new file mode 100644 index 0000000000000000000000000000000000000000..54bd5c29d503c533ef6bc6c74ca393de00548d5e --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_place_metal_bowl_af.yaml @@ -0,0 +1,389 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_place_metal_bowl_af +dataset_uuid: 7335e7b9-55d2-417a-ba15-8aeba616ce6e +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: metal_bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- put the metal bowl on the table. +sub_tasks: +- subtask: Place the metal bowl on the table with left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the metal bowl on the table with right gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- pick +- place +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 38 + fps: 30 + total_frames: 6265 + total_tasks: 4 + total_videos: 38 + total_chunks: 1 + chunks_size: 39 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 95.88 MB +frame_num: 6265 +frame_range: 10K +dataset_size: 95.88 MB +data_structure: 'G1edu-u3_place_metal_bowl_af_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (26 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:37 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_place_plastic_bowl_ag.yaml b/dataset_info/Unitree_G1edu-u3_place_plastic_bowl_ag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..38fe9debafa7fdfdcd507a763e002fa3bf9088c4 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_place_plastic_bowl_ag.yaml @@ -0,0 +1,389 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_place_plastic_bowl_ag +dataset_uuid: 200d19c3-55a3-44fd-830a-10c1b2f63ed7 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plastic_bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- put the plastic bowl on the table. +sub_tasks: +- subtask: Place the plastic bowl on the table with right gripper + subtask_index: 0 +- subtask: End + subtask_index: 1 +- subtask: Place the plastic bowl on the table with left gripper + subtask_index: 2 +- subtask: 'null' + subtask_index: 3 +atomic_actions: +- pick +- place +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 38 + fps: 30 + total_frames: 7219 + total_tasks: 4 + total_videos: 38 + total_chunks: 1 + chunks_size: 39 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 116.03 MB +frame_num: 7219 +frame_range: 10K +dataset_size: 116.03 MB +data_structure: 'G1edu-u3_place_plastic_bowl_ag_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (26 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:37 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_place_plastic_bowl_ah.yaml b/dataset_info/Unitree_G1edu-u3_place_plastic_bowl_ah.yaml new file mode 100644 index 0000000000000000000000000000000000000000..64ad11a9f828466e9cea9d894d91c18ba3466ef9 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_place_plastic_bowl_ah.yaml @@ -0,0 +1,389 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_place_plastic_bowl_ah +dataset_uuid: 7153928d-6c50-4662-91a7-9d48d64e1e5d +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plastic_bowl +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- put the bowl on the table. +sub_tasks: +- subtask: Place the plastic bowl on the table with right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the plastic bowl on the table with left gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- pick +- place +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 33 + fps: 30 + total_frames: 5638 + total_tasks: 4 + total_videos: 33 + total_chunks: 1 + chunks_size: 34 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 83.71 MB +frame_num: 5638 +frame_range: 10K +dataset_size: 83.71 MB +data_structure: 'G1edu-u3_place_plastic_bowl_ah_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (21 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:32 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_plate_storage_doll.yaml b/dataset_info/Unitree_G1edu-u3_plate_storage_doll.yaml new file mode 100644 index 0000000000000000000000000000000000000000..093fcf06e98f5a011177969a701c7aef4b674882 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_plate_storage_doll.yaml @@ -0,0 +1,447 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_plate_storage_doll +dataset_uuid: 45f1baec-34a9-4f8d-bc50-3ef2086cf1a9 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plate +- object_name: doll +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the doll with the left gripper and place it on the left side of the plate. +- Pick up the doll with the right gripper and place it on the right side of the plate. +sub_tasks: +- subtask: Static. + subtask_index: 0 +- subtask: Place the pink doll into the plate with the left gripper. + subtask_index: 1 +- subtask: Grasp the pink doll with the right gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Place the pink doll into the plate with the right gripper. + subtask_index: 4 +- subtask: Grasp the pink doll with the left gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- color_left_wrist +- color_right_wrist +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + color_left_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + color_right_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 388 + total_frames: 133026 + fps: 30 + total_tasks: 7 + total_videos: 1164 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 3.72 GB +frame_num: 133026 +frame_range: 1M +dataset_size: 3.72 GB +data_structure: 'G1edu-u3_plate_storage_doll_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (376 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.color_left_wrist + + | `-- observation.images.color_right_wrist + + |-- info.yaml + + `-- README.md' +splits: + train: 0:387 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_plate_storage_rabbit_doll.yaml b/dataset_info/Unitree_G1edu-u3_plate_storage_rabbit_doll.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5514543b290876335619ca7a37af1c147e2fe0b2 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_plate_storage_rabbit_doll.yaml @@ -0,0 +1,398 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_plate_storage_rabbit_doll +dataset_uuid: adde8f5b-b32a-49e8-b684-9f89a37ec8e4 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: rabbit_doll +- object_name: plate +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the rabbit doll from the table with the gripper and place it on the plate + with the gripper. +sub_tasks: +- subtask: Place the rabbit doll into the plate with the left gripper. + subtask_index: 0 +- subtask: Grasp the rabbit doll with the left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Static. + subtask_index: 3 +- subtask: Abnormal. + subtask_index: 4 +- subtask: null. + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 227 + total_frames: 76754 + fps: 30 + total_tasks: 6 + total_videos: 227 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 1 + dataset_size: 378.38 MB +frame_num: 76754 +frame_range: 100K +dataset_size: 378.38 MB +data_structure: 'G1edu-u3_plate_storage_rabbit_doll_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (215 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.cam_high_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:226 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pullBowl_storage_bread_a.yaml b/dataset_info/Unitree_G1edu-u3_pullBowl_storage_bread_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8f34bde577f2d2c476a9a5187c5890a2cd7fd9d2 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pullBowl_storage_bread_a.yaml @@ -0,0 +1,456 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pullBowl_storage_bread_a +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a52 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plate +- object_name: plate_rack +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the plate from the table with the gripper and place it on the plate rack + with the gripper. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Place the long bread in pink bowl with left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the round bread with left gripper. + subtask_index: 3 +- subtask: Grasp the long bread with left gripper. + subtask_index: 4 +- subtask: Place the round bread in pink bowl with left gripper. + subtask_index: 5 +- subtask: Move the pink bowl to the center of table with right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: +- five_finger_end_effector +- three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_left_high +- cam_left_wrist +- cam_right_wrist +came_info: + cam_left_high: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_left_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_right_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 178 + total_frames: 126861 + fps: 30 + total_tasks: 8 + total_videos: 534 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 2.55 GB +frame_num: 126861 +frame_range: 1M +dataset_size: 2.55 GB +data_structure: 'G1edu-u3_pullBowl_storage_bread_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (166 more entries) + + |-- logs + + | `-- collect + + | `-- collect_20260521215546.log + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_high + + | |-- observation.images.cam_left_wrist + + | `-- observation.images.cam_right_wrist + + |-- info.yaml + + `-- README.md' +splits: + train: 0:177 +features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_high/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_high/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pullBowl_storage_bread_b.yaml b/dataset_info/Unitree_G1edu-u3_pullBowl_storage_bread_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..23dca80af2f619f0f3d3590cfb05654f1cd79979 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pullBowl_storage_bread_b.yaml @@ -0,0 +1,449 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pullBowl_storage_bread_b +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a48 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: chair +- object_name: bear_doll +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- walk up to the toy bear on the chair. +sub_tasks: +- subtask: Move the pink bowl to the center of table with right gripper. + subtask_index: 0 +- subtask: Static. + subtask_index: 1 +- subtask: Grasp the round bread with left gripper. + subtask_index: 2 +- subtask: End. + subtask_index: 3 +- subtask: Move towards the toy bear on the chair. + subtask_index: 4 +- subtask: Grasp the long bread with left gripper. + subtask_index: 5 +- subtask: Place the round bread in pink bowl with left gripper. + subtask_index: 6 +- subtask: Abnormal. + subtask_index: 7 +- subtask: Place the long bread in pink bowl with left gripper. + subtask_index: 8 +- subtask: null. + subtask_index: 9 +atomic_actions: +- walk +robot_name: +- Unitree_G1edu-u3 +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_left_high +- cam_left_wrist +- cam_right_wrist +came_info: + cam_left_high: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_left_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_right_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 186 + total_frames: 162960 + fps: 30 + total_tasks: 10 + total_videos: 558 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 3.30 GB +frame_num: 162960 +frame_range: 1M +dataset_size: 3.30 GB +data_structure: 'G1edu-u3_pullBowl_storage_bread_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (174 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_high + + | |-- observation.images.cam_left_wrist + + | `-- observation.images.cam_right_wrist + + |-- info.yaml + + `-- README.md' +splits: + train: 0:185 +features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_high/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_high/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pullBowl_storage_bread_unordered_C.yaml b/dataset_info/Unitree_G1edu-u3_pullBowl_storage_bread_unordered_C.yaml new file mode 100644 index 0000000000000000000000000000000000000000..71f1520fce2196c2bde4637dad1fc80c49c7c67a --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pullBowl_storage_bread_unordered_C.yaml @@ -0,0 +1,457 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pullBowl_storage_bread_unordered_C +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a51 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plate +- object_name: basket +- object_name: bowl +- object_name: donut +- object_name: cake +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the donut from the bowl with the gripper and place it on the plate. Pick + up the cake from the bowl with the gripper and place it into the basket. +sub_tasks: +- subtask: Place the long bread in pink bowl with left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Grasp the round bread with left gripper. + subtask_index: 2 +- subtask: Grasp the long bread with left gripper. + subtask_index: 3 +- subtask: Place the round bread in pink bowl with left gripper. + subtask_index: 4 +- subtask: Move the pink bowl to the center of table with right gripper. + subtask_index: 5 +- subtask: null. + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: +- five_finger_end_effector +- three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_left_high +- cam_left_wrist +- cam_right_wrist +came_info: + cam_left_high: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_left_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_right_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 190 + total_frames: 110085 + fps: 30 + total_tasks: 7 + total_videos: 570 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 2.21 GB +frame_num: 110085 +frame_range: 1M +dataset_size: 2.21 GB +data_structure: 'G1edu-u3_pullBowl_storage_bread_unordered_C_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (178 more entries) + + |-- logs + + | `-- collect + + | `-- collect_20260521215545.log + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_high + + | |-- observation.images.cam_left_wrist + + | `-- observation.images.cam_right_wrist + + |-- info.yaml + + `-- README.md' +splits: + train: 0:189 +features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_high/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_high/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pullBowl_storage_bread_unordered_a.yaml b/dataset_info/Unitree_G1edu-u3_pullBowl_storage_bread_unordered_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..24bf60fb68d920f4a412e0a0f790e22fdb51bee0 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pullBowl_storage_bread_unordered_a.yaml @@ -0,0 +1,456 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pullBowl_storage_bread_unordered_a +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a49 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plate +- object_name: towel +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Pick up the towel on the left side of the plate with the left gripper and place + it in the plate with the left gripper. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Place the long bread in pink bowl with left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the round bread with left gripper. + subtask_index: 3 +- subtask: Grasp the long bread with left gripper. + subtask_index: 4 +- subtask: Place the round bread in pink bowl with left gripper. + subtask_index: 5 +- subtask: Move the pink bowl to the center of table with right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: +- five_finger_end_effector +- three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_left_high +- cam_left_wrist +- cam_right_wrist +came_info: + cam_left_high: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_left_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_right_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 188 + total_frames: 158699 + fps: 30 + total_tasks: 8 + total_videos: 564 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 3.30 GB +frame_num: 158699 +frame_range: 1M +dataset_size: 3.30 GB +data_structure: 'G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (176 more entries) + + |-- logs + + | `-- collect + + | `-- collect_20260521215543.log + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_high + + | |-- observation.images.cam_left_wrist + + | `-- observation.images.cam_right_wrist + + |-- info.yaml + + `-- README.md' +splits: + train: 0:187 +features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_high/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_high/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pullBowl_storage_bread_unordered_b.yaml b/dataset_info/Unitree_G1edu-u3_pullBowl_storage_bread_unordered_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1fc726c6b6d576a2fd66293bbe27ba14b82d4c8d --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pullBowl_storage_bread_unordered_b.yaml @@ -0,0 +1,459 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_pullBowl_storage_bread_unordered_b +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a50 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: faucet +- object_name: cup +- object_name: orange_juice +- object_name: cola +- object_name: sprite +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the cup under the faucet with the gripper to collect the cola. Remove the + cup with the gripper. +sub_tasks: +- subtask: Abnormal. + subtask_index: 0 +- subtask: Place the long bread in pink bowl with left gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: Grasp the round bread with left gripper. + subtask_index: 3 +- subtask: Grasp the long bread with left gripper. + subtask_index: 4 +- subtask: Place the round bread in pink bowl with left gripper. + subtask_index: 5 +- subtask: Move the pink bowl to the center of table with right gripper. + subtask_index: 6 +- subtask: null. + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: +- five_finger_end_effector +- three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_left_high +- cam_left_wrist +- cam_right_wrist +came_info: + cam_left_high: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_left_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_right_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 190 + total_frames: 118843 + fps: 30 + total_tasks: 8 + total_videos: 570 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 2.32 GB +frame_num: 118843 +frame_range: 1M +dataset_size: 2.32 GB +data_structure: 'G1edu-u3_pullBowl_storage_bread_unordered_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (178 more entries) + + |-- logs + + | `-- collect + + | `-- collect_20260521215544.log + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_left_high + + | |-- observation.images.cam_left_wrist + + | `-- observation.images.cam_right_wrist + + |-- info.yaml + + `-- README.md' +splits: + train: 0:189 +features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_high/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_left_high/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_put_the_bread_aw.yaml b/dataset_info/Unitree_G1edu-u3_put_the_bread_aw.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ecc51784517c2ab9c8ba45b45a2632f657bac689 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_put_the_bread_aw.yaml @@ -0,0 +1,389 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_put_the_bread_aw +dataset_uuid: e6db4b80-8fbb-4767-b613-734d0e088946 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bread +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- put the bread on the table. +sub_tasks: +- subtask: Place the long bread on the table with left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the long bread on the table with right gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- place +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 26 + fps: 30 + total_frames: 5153 + total_tasks: 4 + total_videos: 26 + total_chunks: 1 + chunks_size: 26 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 65.21 MB +frame_num: 5153 +frame_range: 10K +dataset_size: 65.21 MB +data_structure: 'G1edu-u3_put_the_bread_aw_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (14 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:25 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_put_the_cup_b.yaml b/dataset_info/Unitree_G1edu-u3_put_the_cup_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..296b5c801d5d4f9bf225e0b1ea7a25d78dc7a44f --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_put_the_cup_b.yaml @@ -0,0 +1,388 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_put_the_cup_b +dataset_uuid: c8b2edb4-b19b-4458-adfc-799a5e6f2065 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: cup +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the cup on the table with the gripper. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the paper cup on the table with right gripper. + subtask_index: 1 +- subtask: Place the paper cup on the table with left gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 29 + fps: 30 + total_frames: 6447 + total_tasks: 4 + total_videos: 29 + total_chunks: 1 + chunks_size: 29 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 73.75 MB +frame_num: 6447 +frame_range: 10K +dataset_size: 73.75 MB +data_structure: 'G1edu-u3_put_the_cup_b_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (17 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:28 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_put_the_lemon_af.yaml b/dataset_info/Unitree_G1edu-u3_put_the_lemon_af.yaml new file mode 100644 index 0000000000000000000000000000000000000000..69e9f586dd10171170c0648f924e91492884d5af --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_put_the_lemon_af.yaml @@ -0,0 +1,389 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_put_the_lemon_af +dataset_uuid: c37586ed-bc01-40b2-9038-cd26ce06df5b +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: lemon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- put the lemon on the table. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the lemon on the table with right gripper. + subtask_index: 1 +- subtask: Place the lemon on the table with left gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- place +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 19 + fps: 30 + total_frames: 3544 + total_tasks: 4 + total_videos: 19 + total_chunks: 1 + chunks_size: 19 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 37.11 MB +frame_num: 3544 +frame_range: 10K +dataset_size: 37.11 MB +data_structure: 'G1edu-u3_put_the_lemon_af_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (7 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:18 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_put_the_lemon_on_the_plate_ah.yaml b/dataset_info/Unitree_G1edu-u3_put_the_lemon_on_the_plate_ah.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fdc84fe4afcb9af45f782ca4206365ce6925236b --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_put_the_lemon_on_the_plate_ah.yaml @@ -0,0 +1,380 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_put_the_lemon_on_the_plate_ah +dataset_uuid: 7f32d00d-3005-45c1-90cb-9a16b5e64034 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: plate +- object_name: lemon +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- put the lemon on the plate. +sub_tasks: +- subtask: Place the lemon on the orange plate with right gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- place +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 9 + fps: 30 + total_frames: 1961 + total_tasks: 3 + total_videos: 9 + total_chunks: 1 + chunks_size: 9 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 20.38 MB +frame_num: 1961 +frame_range: 10K +dataset_size: 20.38 MB +data_structure: 'G1edu-u3_put_the_lemon_on_the_plate_ah_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | `-- episode_000008.parquet + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:8 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_put_the_tissue_box_al.yaml b/dataset_info/Unitree_G1edu-u3_put_the_tissue_box_al.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e73316385af8f7188273288501e5431f20b647ed --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_put_the_tissue_box_al.yaml @@ -0,0 +1,388 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_put_the_tissue_box_al +dataset_uuid: 39aeb43d-8473-408d-a61d-bdd24134ab9a +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: box +- object_name: tissue +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- put the tissue box on the table. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the tissue box on the table with both gripper. + subtask_index: 1 +- subtask: null. + subtask_index: 2 +atomic_actions: +- grasp +- place +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 39 + fps: 30 + total_frames: 10816 + total_tasks: 3 + total_videos: 39 + total_chunks: 1 + chunks_size: 41 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 142.34 MB +frame_num: 10816 +frame_range: 100K +dataset_size: 142.34 MB +data_structure: 'G1edu-u3_put_the_tissue_box_al_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (27 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:38 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_put_the_toy_ap.yaml b/dataset_info/Unitree_G1edu-u3_put_the_toy_ap.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c3a2ccaca97fbb6b4f5f413394c69f25f89f256 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_put_the_toy_ap.yaml @@ -0,0 +1,381 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_put_the_toy_ap +dataset_uuid: 925411a9-6e40-405a-a2fc-f09d64a8d75a +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: toy +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- put the toy on the table. +sub_tasks: +- subtask: Place the toy bear on the table with left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the toy bear on the table with right gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- place +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 9 + fps: 30 + total_frames: 2242 + total_tasks: 4 + total_videos: 9 + total_chunks: 1 + chunks_size: 10 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 32.14 MB +frame_num: 2242 +frame_range: 10K +dataset_size: 32.14 MB +data_structure: 'G1edu-u3_put_the_toy_ap_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | `-- episode_000008.parquet + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:8 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_put_the_water_bottle_aq.yaml b/dataset_info/Unitree_G1edu-u3_put_the_water_bottle_aq.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fd0c02958f46708aec171dcb110fc658b5aa247a --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_put_the_water_bottle_aq.yaml @@ -0,0 +1,390 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_put_the_water_bottle_aq +dataset_uuid: 09897bd8-675b-4f42-892f-cc674883e61f +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bottle +- object_name: water +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- put the water bottle on the table. +sub_tasks: +- subtask: End. + subtask_index: 0 +- subtask: Place the water bottle on the table with left gripper. + subtask_index: 1 +- subtask: Place the water bottle on the table with right gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- place +robot_name: +- Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 21 + fps: 30 + total_frames: 5861 + total_tasks: 4 + total_videos: 21 + total_chunks: 1 + chunks_size: 24 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 73.08 MB +frame_num: 5861 +frame_range: 10K +dataset_size: 73.08 MB +data_structure: 'G1edu-u3_put_the_water_bottle_aq_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (9 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:20 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_put_the_water_bottle_on_the_table_d.yaml b/dataset_info/Unitree_G1edu-u3_put_the_water_bottle_on_the_table_d.yaml new file mode 100644 index 0000000000000000000000000000000000000000..774542f217c0c0a02b83019c6198f496281f1007 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_put_the_water_bottle_on_the_table_d.yaml @@ -0,0 +1,389 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_put_the_water_bottle_on_the_table_d +dataset_uuid: 7f724d35-f01a-4eaa-a398-60449a270f33 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: bottle +- object_name: water +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the water bottle on the table with the gripper. +sub_tasks: +- subtask: Place the water bottle on the table with left gripper. + subtask_index: 0 +- subtask: End. + subtask_index: 1 +- subtask: Place the water bottle on the table with right gripper. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- grasp +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 32 + fps: 30 + total_frames: 6580 + total_tasks: 4 + total_videos: 32 + total_chunks: 1 + chunks_size: 32 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 82.63 MB +frame_num: 6580 +frame_range: 10K +dataset_size: 82.63 MB +data_structure: 'G1edu-u3_put_the_water_bottle_on_the_table_d_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (20 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:31 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_tray_storage_lemon_a.yaml b/dataset_info/Unitree_G1edu-u3_tray_storage_lemon_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6f11108e2dd80ac26c276782abdee816e07d5335 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_tray_storage_lemon_a.yaml @@ -0,0 +1,389 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_tray_storage_lemon_a +dataset_uuid: 50af80c8-eb74-4dec-9689-8bea0af5a8c2 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table +- object_name: lemon +- object_name: tray +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the lemon into the tray with the gripper. +sub_tasks: +- subtask: Place the lemon on the blue plate with left gripper. + subtask_index: 0 +- subtask: Place the lemon on the blue plate with right gripper. + subtask_index: 1 +- subtask: End. + subtask_index: 2 +- subtask: null. + subtask_index: 3 +atomic_actions: +- pick +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- ego_view +came_info: + ego_view: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 13 + fps: 30 + total_frames: 2298 + total_tasks: 4 + total_videos: 13 + total_chunks: 1 + chunks_size: 13 + state_dim: 30 + action_dim: 30 + camera_views: 1 + dataset_size: 27.24 MB +frame_num: 2298 +frame_range: 10K +dataset_size: 27.24 MB +data_structure: 'G1edu-u3_tray_storage_lemon_a_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (1 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | `-- observation.images.ego_view + + |-- info.yaml + + `-- README.md' +splits: + train: 0:12 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.ego_view/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.ego_view/episode_000000.mp4 diff --git a/doc_assets/hint/hint.yaml b/doc_assets/hint/hint.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b12a4ee11a850e44ed8763e64b45dc57e35db1ca --- /dev/null +++ b/doc_assets/hint/hint.yaml @@ -0,0 +1,22 @@ +meta: + resource: hint + version: "1.2" +items: + - id: "hint-20260417-001" + date: "2026-04-17" + title: + zh: "使用提示" + en: "Usage Hints" + content: + zh: | +

RoboCOIN 源代码可在 github.com/FlagOpen/RoboCOIN 获取。

+

请先使用 pip install robocoin 安装 Python 包。

+

下载数据集前，请访问 huggingface.co/RoboCOIN，打开任意数据集页面并提交访问请求，以避免权限错误。访问请求提交后将自动批准。

+

欢迎通过提交 Issue 和反馈帮助我们改进 RoboCOIN。

+ en: | +

RoboCOIN source code is available at github.com/FlagOpen/RoboCOIN.

+

Install the Python package first with pip install robocoin.

+

Before downloading datasets, visit huggingface.co/RoboCOIN, open any dataset page, and submit the access request to avoid permission errors. Access requests are auto-approved after submission.

+

Help us improve RoboCOIN by reporting issues and feedback.

+ status: "active" + committed_by: "RoboCOIN Team" diff --git a/doc_assets/issue/issues.yaml b/doc_assets/issue/issues.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bc48857e325d709747a4d140405a3a7e8f3a844b --- /dev/null +++ b/doc_assets/issue/issues.yaml @@ -0,0 +1,24 @@ +meta: + resource: issue + version: "1.2" +items: + - id: "issue-20260415-001" + date: "2026-04-15" + title: + zh: "RoboCOIN 数据集回复" + en: "RoboCOIN Dataset Response" + content: + zh: | +
    +
  1. 后续发布的数据集将逐步补充并完善相机内参信息。
    2. +
  2. 深度图像数据已纳入后续迭代规划，敬请关注后续更新。
    3. +
  3. 针对现有部分原子动作标注表述不清晰的问题，项目组将统一优化动作术语，确保同一数据集内同类动作采用一致的标准描述。
    4. +
+ en: | +
    +
  1. Future dataset releases will gradually add and improve camera intrinsic parameters.
    2. +
  2. Depth image data has been included in the upcoming iteration roadmap. Please stay tuned for future updates.
    3. +
  3. To address unclear wording in some existing atomic action annotations, the project team will standardize and refine action terminology to ensure consistent descriptions for the same action types within each dataset.
    4. +
+ status: "open" + committed_by: "RoboCOIN Team" diff --git a/doc_assets/news/news.yaml b/doc_assets/news/news.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bb0f8cdb2363c12f2c6fe60ed2579f2dbe907526 --- /dev/null +++ b/doc_assets/news/news.yaml @@ -0,0 +1,22 @@ +meta: + resource: news + version: "1.2" +items: + - id: "news-20260415-001" + date: "2026-04-15" + title: + zh: "RoboCOIN 新发布 200+ 数据集，开放下载助力具身智能研究" + en: "RoboCOIN Released 200+ New Datasets to Advance Embodied AI Research" + content: + zh: | +

RoboCOIN 预计每月发布一次高质量双臂机器人操作数据集。

+

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

+

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

+

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

+ en: | +

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

+

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

+

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

+

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

+ status: "published" + committed_by: "RoboCOIN Team" diff --git a/info/consolidated_datasets.json b/info/consolidated_datasets.json new file mode 100644 index 0000000000000000000000000000000000000000..4919df4eda3d8631ac4d9fed16102ba2294887a0 --- /dev/null +++ b/info/consolidated_datasets.json @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eab816ea525b13d32d25f20f93526eac8f90fcd3677e2df9791e35abd91d7234 +size 11217530 diff --git a/info/data_index.json b/info/data_index.json new file mode 100644 index 0000000000000000000000000000000000000000..0d1c5d0b1c8e9c9a7d9cb9887c1cfc9da970dc77 --- /dev/null +++ b/info/data_index.json @@ -0,0 +1,671 @@ +{ + "datasets": [ + "AI2_Alphabot_2_carry_the_clothes_basket", + "AI2_Alphabot_2_item_reversal", + "AI2_Alphabot_2_move_the_table", + "AI2_Alphabot_2_operate_the_microwave_oven", + "AI2_Alphabot_2_pass_the_sandbag", + "AI2_Alphabot_2_press_the_button_a", + "AI2_Alphabot_2_press_the_button_b", + "AI2_Alphabot_2_recover_after_touching_an_obstacle", + "AI2_Alphabot_2_stack_building_blocks", + "AI2_Alphabot_2_sticker", + "Agilex_Cobot_Magic_basket_storage_banana", + "Agilex_Cobot_Magic_basket_storage_bread", + "Agilex_Cobot_Magic_basket_storage_egg_yolk_pastry", + "Agilex_Cobot_Magic_basket_storage_long_bread", + "Agilex_Cobot_Magic_basket_storage_orange", + "Agilex_Cobot_Magic_basket_storage_peach", + "Agilex_Cobot_Magic_classify_objects_eight", + "Agilex_Cobot_Magic_classify_objects_six", + "Agilex_Cobot_Magic_close_drawer_bottom", + "Agilex_Cobot_Magic_close_drawer_top", + "Agilex_Cobot_Magic_close_drawer_upper", + "Agilex_Cobot_Magic_connect_block", + "Agilex_Cobot_Magic_erase_board", + "Agilex_Cobot_Magic_erase_board_left", + "Agilex_Cobot_Magic_erase_board_left_side", + "Agilex_Cobot_Magic_erase_board_passing_left_to_right", + "Agilex_Cobot_Magic_erase_board_passing_right_to_left", + "Agilex_Cobot_Magic_erase_board_right", + "Agilex_Cobot_Magic_fold_T-shirts", + "Agilex_Cobot_Magic_fold_clothes", + "Agilex_Cobot_Magic_fold_jeans_shorts_children's", + "Agilex_Cobot_Magic_fold_short_sleeve_black", + "Agilex_Cobot_Magic_fold_short_sleeve_white", + "Agilex_Cobot_Magic_fold_shorts_khaki", + "Agilex_Cobot_Magic_fold_the_pants", + "Agilex_Cobot_Magic_fold_towel", + "Agilex_Cobot_Magic_fold_towel_blue", + "Agilex_Cobot_Magic_fold_towel_blue_tray", + "Agilex_Cobot_Magic_fold_towel_brown", + "Agilex_Cobot_Magic_fold_towel_grey_tray", + "Agilex_Cobot_Magic_fold_towel_pink_tray", + "Agilex_Cobot_Magic_fold_towel_purple", + "Agilex_Cobot_Magic_fold_towel_tray_twice", + "Agilex_Cobot_Magic_fold_towel_yellow_tray", + "Agilex_Cobot_Magic_heat_burger", + "Agilex_Cobot_Magic_heat_sandwich", + "Agilex_Cobot_Magic_make_sandwiche", + "Agilex_Cobot_Magic_move_mouse", + "Agilex_Cobot_Magic_move_mouse_pen", + "Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth", + "Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth", + "Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth", + "Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth", + "Agilex_Cobot_Magic_move_object", + "Agilex_Cobot_Magic_move_object_beige_tablecloth", + "Agilex_Cobot_Magic_move_object_black_tablecloth", + "Agilex_Cobot_Magic_move_object_green_tablecloth", + "Agilex_Cobot_Magic_move_object_red_tablecloth", + "Agilex_Cobot_Magic_move_pencil_sharpener", + "Agilex_Cobot_Magic_open_drawer_bottom", + "Agilex_Cobot_Magic_organize_desk_fail", + "Agilex_Cobot_Magic_organize_test_tube", + "Agilex_Cobot_Magic_pass_object_left_to_right_black_tablecloth", + "Agilex_Cobot_Magic_pass_object_left_to_right_green_tablecloth", + "Agilex_Cobot_Magic_pass_object_left_to_right_khaki_tablecloth", + "Agilex_Cobot_Magic_pass_object_left_to_right_white_tablecloth", + "Agilex_Cobot_Magic_pass_object_right_to_left_black_tablecloth", + "Agilex_Cobot_Magic_pass_object_right_to_left_green_tablecloth", + "Agilex_Cobot_Magic_pass_object_right_to_left_khaki_tablecloth", + "Agilex_Cobot_Magic_pass_object_right_to_left_red_tablecloth", + "Agilex_Cobot_Magic_pass_object_right_to_left_white_tablecloth", + "Agilex_Cobot_Magic_place_towel_flat", + "Agilex_Cobot_Magic_plate_storage", + "Agilex_Cobot_Magic_pour_drink_bottle_cup", + "Agilex_Cobot_Magic_pour_drink_bottle_cup_cup", + "Agilex_Cobot_Magic_pour_rice", + "Agilex_Cobot_Magic_pour_tea", + "Agilex_Cobot_Magic_pour_water_bottle_cup_cup", + "Agilex_Cobot_Magic_pour_water_middle_cup", + "Agilex_Cobot_Magic_pour_water_pink_cup", + "Agilex_Cobot_Magic_scoop_coffee_beans", + "Agilex_Cobot_Magic_seal_bag", + "Agilex_Cobot_Magic_stack_baskets", + "Agilex_Cobot_Magic_stack_block", + "Agilex_Cobot_Magic_stir_coffee", + "Agilex_Cobot_Magic_storage_bread_basket", + "Agilex_Cobot_Magic_storage_fruit_basket", + "Agilex_Cobot_Magic_storage_fuirt_bowl", + "Agilex_Cobot_Magic_storage_lemon_mango", + "Agilex_Cobot_Magic_storage_object", + "Agilex_Cobot_Magic_storage_object_basket", + "Agilex_Cobot_Magic_storage_object_closest", + "Agilex_Cobot_Magic_storage_object_closest_apple", + "Agilex_Cobot_Magic_storage_object_closest_cube", + "Agilex_Cobot_Magic_storage_object_left", + "Agilex_Cobot_Magic_storage_object_red_tablecloth", + "Agilex_Cobot_Magic_storage_orange_basket_left", + "Agilex_Cobot_Magic_storage_orange_basket_right", + "Agilex_Cobot_Magic_storage_orange_white_bag", + "Agilex_Cobot_Magic_storage_peach_brown_bag", + "Agilex_Cobot_Magic_storage_peach_left", + "Agilex_Cobot_Magic_storage_peach_right", + "Agilex_Cobot_Magic_storage_peach_white_bag", + "Agilex_Cobot_Magic_storage_towel", + "Agilex_Cobot_Magic_sweep_coffee_beans", + "Agilex_Cobot_Magic_wipe_table", + "Agilex_Cobot_Magic_wipe_the_table", + "Agilex_Cobot_Magic_zip_up_the_document_bag", + "Agilex_Split_Aloha_box_storage_chopsticks", + "Agilex_Split_Aloha_cap_the_pen_a", + "Agilex_Split_Aloha_catch_the_ball", + "Agilex_Split_Aloha_classification_of_fruits_and_vegetables", + "Agilex_Split_Aloha_classification_of_fruits_and_vegetables_a", + "Agilex_Split_Aloha_classification_of_tableware", + "Agilex_Split_Aloha_clean_blackboard", + "Agilex_Split_Aloha_clean_up_the_tableware", + "Agilex_Split_Aloha_clear_the_desktop", + "Agilex_Split_Aloha_close_book", + "Agilex_Split_Aloha_cube_reset", + "Agilex_Split_Aloha_cut_banana", + "Agilex_Split_Aloha_desktop_organization", + "Agilex_Split_Aloha_drawer_storage_mineral_water", + "Agilex_Split_Aloha_fold_the_towel", + "Agilex_Split_Aloha_fold_towel_a", + "Agilex_Split_Aloha_food_packaging", + "Agilex_Split_Aloha_make_fruit_salad", + "Agilex_Split_Aloha_make_hamburger", + "Agilex_Split_Aloha_mobile_cube", + "Agilex_Split_Aloha_mobile_cube_blackboard", + "Agilex_Split_Aloha_move_beverage", + "Agilex_Split_Aloha_move_the_ball", + "Agilex_Split_Aloha_move_the_ball_and_the_cube_block", + "Agilex_Split_Aloha_move_the_ball_interference", + "Agilex_Split_Aloha_move_the_bread", + "Agilex_Split_Aloha_move_the_cup", + "Agilex_Split_Aloha_move_the_plate", + "Agilex_Split_Aloha_move_the_small_ball", + "Agilex_Split_Aloha_movethe_position_of_the_bluetooth", + "Agilex_Split_Aloha_open_the_shoebox", + "Agilex_Split_Aloha_place_square_pyramid", + "Agilex_Split_Aloha_place_the_cube_block", + "Agilex_Split_Aloha_place_the_test_tube", + "Agilex_Split_Aloha_plate_storage_apple", + "Agilex_Split_Aloha_plate_storage_bread", + "Agilex_Split_Aloha_plate_storaje_baozi", + "Agilex_Split_Aloha_pot_storage_steamer", + "Agilex_Split_Aloha_pour_drink", + "Agilex_Split_Aloha_pour_water_a", + "Agilex_Split_Aloha_pour_water_bottle", + "Agilex_Split_Aloha_prepare_breakfast", + "Agilex_Split_Aloha_pull_zipper", + "Agilex_Split_Aloha_pushing_magnet", + "Agilex_Split_Aloha_put_in_the_pear", + "Agilex_Split_Aloha_put_the_building_block_on_the_table", + "Agilex_Split_Aloha_steamer_storage_dumpling", + "Agilex_Split_Aloha_storage_plate", + "Agilex_Split_Aloha_take_out_a_pen_from_the_pen_holder", + "Agilex_Split_Aloha_take_out_the_bread", + "Agilex_Split_Aloha_take_the_shoes_off_the_shelf", + "Agilex_Split_Aloha_the_box_stores_table_tennis_balls", + "Agilex_Split_Aloha_the_plate_holds_the_fruit", + "Agilex_Split_Aloha_the_plate_holds_the_vegetables", + "Agilex_Split_Aloha_turn_on_the_bulb", + "Agilex_Split_Aloha_twist_bottle_cap", + "Agilex_Split_Aloha_vase_storage_flower", + "Agilex_Split_Aloha_water_bottle_storage", + "Airbot_MMK2_beauty_sponge_and_cake_to_place", + "Airbot_MMK2_bowl_storage_pepper", + "Airbot_MMK2_boxs_storage", + "Airbot_MMK2_building_block_storage", + "Airbot_MMK2_cake_storage", + "Airbot_MMK2_chop_the_scallions", + "Airbot_MMK2_clean_the_desktop", + "Airbot_MMK2_clean_the_desktop_a", + "Airbot_MMK2_click_pen", + "Airbot_MMK2_close_door_left", + "Airbot_MMK2_close_door_right", + "Airbot_MMK2_close_doors", + "Airbot_MMK2_close_drawer", + "Airbot_MMK2_close_lid", + "Airbot_MMK2_close_the_computer", + "Airbot_MMK2_cover_lid", + "Airbot_MMK2_cup_storage", + "Airbot_MMK2_cut_scallion", + "Airbot_MMK2_desktop_storage", + "Airbot_MMK2_dial_number", + "Airbot_MMK2_diamond_storage", + "Airbot_MMK2_doodled_line", + "Airbot_MMK2_double-sided_tape_placement", + "Airbot_MMK2_egg_storage", + "Airbot_MMK2_food_storage", + "Airbot_MMK2_item_storage", + "Airbot_MMK2_lemon_and_orange_storage", + "Airbot_MMK2_medicine_bottle_storage", + "Airbot_MMK2_mobile_calculator_box", + "Airbot_MMK2_mobile_car", + "Airbot_MMK2_mobile_phone_storage", + "Airbot_MMK2_move_apple_orange_pomegranate", + "Airbot_MMK2_move_block", + "Airbot_MMK2_move_block_both_hands", + "Airbot_MMK2_move_block_gold_bar_models", + "Airbot_MMK2_move_block_twice", + "Airbot_MMK2_move_block_wet_wipes", + "Airbot_MMK2_move_book_front", + "Airbot_MMK2_move_book_right_side", + "Airbot_MMK2_move_bottle_tape_measure", + "Airbot_MMK2_move_cake", + "Airbot_MMK2_move_cake_tape_measure", + "Airbot_MMK2_move_cup_paper_box", + "Airbot_MMK2_move_fake_food", + "Airbot_MMK2_move_medicine_bottle", + "Airbot_MMK2_move_pan", + "Airbot_MMK2_move_paper_box", + "Airbot_MMK2_move_phone_twice", + "Airbot_MMK2_move_sword_doll", + "Airbot_MMK2_move_tennis_racket_ball", + "Airbot_MMK2_move_tub", + "Airbot_MMK2_move_umbrella_tissues", + "Airbot_MMK2_open_door_left", + "Airbot_MMK2_open_door_right", + "Airbot_MMK2_open_laptop", + "Airbot_MMK2_open_lid", + "Airbot_MMK2_open_notebook", + "Airbot_MMK2_organize_and_place_books", + "Airbot_MMK2_organize_books", + "Airbot_MMK2_organize_plate", + "Airbot_MMK2_pass_paper_box", + "Airbot_MMK2_perpare_tea", + "Airbot_MMK2_pick_up_and_place_tub", + "Airbot_MMK2_place_cookies_and_beer", + "Airbot_MMK2_place_the_basin", + "Airbot_MMK2_place_the_blue_and_purple_blocks", + "Airbot_MMK2_place_the_books", + "Airbot_MMK2_place_the_building_blocks", + "Airbot_MMK2_place_the_cake", + "Airbot_MMK2_place_the_glasses_case_and_gold_bars", + "Airbot_MMK2_place_the_network_cable_and_mouse_box", + "Airbot_MMK2_place_the_paper_drawer", + "Airbot_MMK2_place_the_piano_and_the_needle-nose_pliers", + "Airbot_MMK2_place_the_pliers_and_wallpaper_knife", + "Airbot_MMK2_place_the_shark_toys_and_gold_bars", + "Airbot_MMK2_place_the_small_bowl_of_canned_food", + "Airbot_MMK2_place_the_sponge_and_wet_wipes", + "Airbot_MMK2_place_the_umbrella_and_the_ruler", + "Airbot_MMK2_place_the_yellow_block", + "Airbot_MMK2_play_guitar", + "Airbot_MMK2_play_the_guitar", + "Airbot_MMK2_play_toy_piano", + "Airbot_MMK2_potato_storage", + "Airbot_MMK2_pour_BBs", + "Airbot_MMK2_pour_out_the_beauty_blender", + "Airbot_MMK2_pull_plunger", + "Airbot_MMK2_pull_the_syringe_piston", + "Airbot_MMK2_pull_tissue", + "Airbot_MMK2_pumpkin_storage", + "Airbot_MMK2_push_away_book", + "Airbot_MMK2_push_building_blocks", + "Airbot_MMK2_push_piston", + "Airbot_MMK2_push_plunger", + "Airbot_MMK2_push_toy_car", + "Airbot_MMK2_remove_lid", + "Airbot_MMK2_remove_pen_cap", + "Airbot_MMK2_rotate_cube_face", + "Airbot_MMK2_screw_the_bottle_cap", + "Airbot_MMK2_slide_block", + "Airbot_MMK2_slide_block_onto_post", + "Airbot_MMK2_slide_tape_onto_can", + "Airbot_MMK2_square_arrangement", + "Airbot_MMK2_stack_block", + "Airbot_MMK2_stack_bowl", + "Airbot_MMK2_stack_cubic_block", + "Airbot_MMK2_stack_cup", + "Airbot_MMK2_stacking_blocks", + "Airbot_MMK2_storage_and_take_cake_plate", + "Airbot_MMK2_storage_apple_orange", + "Airbot_MMK2_storage_badminton", + "Airbot_MMK2_storage_bell_pepper", + "Airbot_MMK2_storage_bell_pepper_bowl", + "Airbot_MMK2_storage_block", + "Airbot_MMK2_storage_block_BBs", + "Airbot_MMK2_storage_block_both_hands", + "Airbot_MMK2_storage_block_tape_measure", + "Airbot_MMK2_storage_book", + "Airbot_MMK2_storage_bottle_part", + "Airbot_MMK2_storage_bowl", + "Airbot_MMK2_storage_bowl_wet_wipes", + "Airbot_MMK2_storage_box_for_mouse_and_sponge", + "Airbot_MMK2_storage_braised_pork_belly_shrimp", + "Airbot_MMK2_storage_cake_both_hands", + "Airbot_MMK2_storage_cake_box", + "Airbot_MMK2_storage_cake_cup", + "Airbot_MMK2_storage_cake_ice_cream", + "Airbot_MMK2_storage_cake_pan", + "Airbot_MMK2_storage_cake_plate", + "Airbot_MMK2_storage_computer_box", + "Airbot_MMK2_storage_cookie_cup", + "Airbot_MMK2_storage_cookie_toy_car", + "Airbot_MMK2_storage_cup", + "Airbot_MMK2_storage_cup_plate", + "Airbot_MMK2_storage_cup_rubik's_cube", + "Airbot_MMK2_storage_diamond_ring", + "Airbot_MMK2_storage_egg_bowl", + "Airbot_MMK2_storage_egg_plate", + "Airbot_MMK2_storage_egg_white_box", + "Airbot_MMK2_storage_egg_yellow_box", + "Airbot_MMK2_storage_electronics_white_basket", + "Airbot_MMK2_storage_electronics_yellow_baket", + "Airbot_MMK2_storage_for_building_blocks_and_beauty_sponges", + "Airbot_MMK2_storage_gold_bar_model_shark_doll", + "Airbot_MMK2_storage_grape", + "Airbot_MMK2_storage_hourglass", + "Airbot_MMK2_storage_ice_cream", + "Airbot_MMK2_storage_item", + "Airbot_MMK2_storage_lemon_mango", + "Airbot_MMK2_storage_mango_pomegranate", + "Airbot_MMK2_storage_milk_tissue", + "Airbot_MMK2_storage_network_cable_paper_box", + "Airbot_MMK2_storage_onion_sweet_potato", + "Airbot_MMK2_storage_paper_box_sponge", + "Airbot_MMK2_storage_peach_pear", + "Airbot_MMK2_storage_penguin_doll_tiger_doll", + "Airbot_MMK2_storage_pineapple", + "Airbot_MMK2_storage_potato_left", + "Airbot_MMK2_storage_potato_pumpkin", + "Airbot_MMK2_storage_pumpkin_left", + "Airbot_MMK2_storage_pumpkin_right", + "Airbot_MMK2_storage_remote_control_clip_box_water_bottle", + "Airbot_MMK2_storage_rubiks_cube_and_cup", + "Airbot_MMK2_storage_shark_doll", + "Airbot_MMK2_storage_sponge_wet_wipes", + "Airbot_MMK2_storage_spoon", + "Airbot_MMK2_storage_stationery_xylophone", + "Airbot_MMK2_storage_tape_measure_umbrella", + "Airbot_MMK2_storage_tissue_and_milk_carton", + "Airbot_MMK2_storage_tissue_paper", + "Airbot_MMK2_storage_tissues_tub", + "Airbot_MMK2_storage_tomato_potato", + "Airbot_MMK2_storage_tools", + "Airbot_MMK2_storage_toy_cars_and_cookies", + "Airbot_MMK2_storage_tumbler_umbrella", + "Airbot_MMK2_storage_wet_tissue_and_building_block", + "Airbot_MMK2_store_beauty_blender_and_building_blocks", + "Airbot_MMK2_store_coffee_cups", + "Airbot_MMK2_store_peaches_and_pears", + "Airbot_MMK2_store_pomegranates_and_mangoes", + "Airbot_MMK2_store_wet_wipes_and_bowls", + "Airbot_MMK2_storge_cake_ice_cream", + "Airbot_MMK2_swap_apple_cake_plate", + "Airbot_MMK2_swap_bbs_block_plate", + "Airbot_MMK2_swap_bbs_cake_plate", + "Airbot_MMK2_swap_bottle_wet_wipes_plate", + "Airbot_MMK2_swap_bread_cake_plate", + "Airbot_MMK2_swap_cake_pumpkin_plate", + "Airbot_MMK2_swap_cake_sponge_plate", + "Airbot_MMK2_swap_sponge_paper_box_plate", + "Airbot_MMK2_sweep_peaper", + "Airbot_MMK2_take_BBs_block", + "Airbot_MMK2_take_block", + "Airbot_MMK2_take_block_both_hands", + "Airbot_MMK2_take_book", + "Airbot_MMK2_take_bottle_umbrella", + "Airbot_MMK2_take_bowl_sponge", + "Airbot_MMK2_take_cake_both_hands", + "Airbot_MMK2_take_cup", + "Airbot_MMK2_take_dog_doll", + "Airbot_MMK2_take_down_paper_cup", + "Airbot_MMK2_take_down_umbrella_and_mineral_water", + "Airbot_MMK2_take_drink", + "Airbot_MMK2_take_egg", + "Airbot_MMK2_take_electronics", + "Airbot_MMK2_take_part_both_hands", + "Airbot_MMK2_take_the_book", + "Airbot_MMK2_take_tissues", + "Airbot_MMK2_take_toy_car", + "Airbot_MMK2_the_cup_is_put_into_the_bucket", + "Airbot_MMK2_toy_storage", + "Airbot_MMK2_turn_page", + "Airbot_MMK2_unplug", + "Airbot_MMK2_unscrew_bottle_cap", + "Galaxea_R1_Lite_arrange_baai_then_brain", + "Galaxea_R1_Lite_boil_water_in_a_kettle", + "Galaxea_R1_Lite_build_blocks", + "Galaxea_R1_Lite_catch_the_water", + "Galaxea_R1_Lite_change_baai_into_brain", + "Galaxea_R1_Lite_classify_object_five", + "Galaxea_R1_Lite_classify_object_four", + "Galaxea_R1_Lite_classify_object_green_tablecloth", + "Galaxea_R1_Lite_classify_object_six", + "Galaxea_R1_Lite_classify_object_three", + "Galaxea_R1_Lite_clean_the_floor", + "Galaxea_R1_Lite_clean_the_sink", + "Galaxea_R1_Lite_clean_toilet", + "Galaxea_R1_Lite_connect_the_router_cable", + "Galaxea_R1_Lite_cook_a_meal", + "Galaxea_R1_Lite_cover_the_pot_lid", + "Galaxea_R1_Lite_dispose_of_leftover_food", + "Galaxea_R1_Lite_drawer_storage_hair_dryer", + "Galaxea_R1_Lite_fold_clothes", + "Galaxea_R1_Lite_fold_towel_twice", + "Galaxea_R1_Lite_garbage_disposal", + "Galaxea_R1_Lite_hang_clothes", + "Galaxea_R1_Lite_make_a_landline_call", + "Galaxea_R1_Lite_make_breakfast", + "Galaxea_R1_Lite_make_tea", + "Galaxea_R1_Lite_make_the_bed", + "Galaxea_R1_Lite_mix_blue_yellow_large_test_tube", + "Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube", + "Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube", + "Galaxea_R1_Lite_mix_blue_yellow_right", + "Galaxea_R1_Lite_mix_color", + "Galaxea_R1_Lite_mix_color_large_test_tube", + "Galaxea_R1_Lite_mix_color_small_test_tube", + "Galaxea_R1_Lite_mix_red_blue_large_test_tube", + "Galaxea_R1_Lite_mix_red_blue_left_large_test_tube", + "Galaxea_R1_Lite_mix_red_blue_right", + "Galaxea_R1_Lite_mix_red_yellow_large_test_tube", + "Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube", + "Galaxea_R1_Lite_mix_red_yellow_right", + "Galaxea_R1_Lite_move_mouse", + "Galaxea_R1_Lite_move_the_position_of_the_apple", + "Galaxea_R1_Lite_move_the_position_of_the_black_marker", + "Galaxea_R1_Lite_move_the_position_of_the_brush", + "Galaxea_R1_Lite_move_the_position_of_the_coffee_capsule", + "Galaxea_R1_Lite_move_the_position_of_the_cookie", + "Galaxea_R1_Lite_move_the_position_of_the_duck", + "Galaxea_R1_Lite_move_the_position_of_the_glass", + "Galaxea_R1_Lite_move_the_position_of_the_long_bread", + "Galaxea_R1_Lite_move_the_position_of_the_milk", + "Galaxea_R1_Lite_move_the_position_of_the_orange", + "Galaxea_R1_Lite_move_the_position_of_the_peeler", + "Galaxea_R1_Lite_move_the_position_of_the_pen", + "Galaxea_R1_Lite_move_the_position_of_the_rubiks_cube", + "Galaxea_R1_Lite_move_the_position_of_the_soda", + "Galaxea_R1_Lite_move_the_position_of_the_spoon", + "Galaxea_R1_Lite_move_the_position_of_the_triangle_bread", + "Galaxea_R1_Lite_open_and_close_curtains", + "Galaxea_R1_Lite_open_and_close_microwave_oven", + "Galaxea_R1_Lite_open_and_close_nightstand_door", + "Galaxea_R1_Lite_open_and_close_nightstand_drawer", + "Galaxea_R1_Lite_open_and_close_the_freezer_door", + "Galaxea_R1_Lite_open_the_food_pan", + "Galaxea_R1_Lite_opening_and_closing_aalcony_sliding_doors", + "Galaxea_R1_Lite_peach_storage", + "Galaxea_R1_Lite_pick_up_and_store_items", + "Galaxea_R1_Lite_place_the_dress_shirt_on_the_hanger", + "Galaxea_R1_Lite_plug_the_socket", + "Galaxea_R1_Lite_pour_liquid_mrable_bar_counter", + "Galaxea_R1_Lite_pour_powder", + "Galaxea_R1_Lite_pour_powder_marble_bar_counter", + "Galaxea_R1_Lite_pour_solid", + "Galaxea_R1_Lite_pour_solid_marble_bar_counter", + "Galaxea_R1_Lite_pour_water", + "Galaxea_R1_Lite_pour_water_black_tablecloth", + "Galaxea_R1_Lite_put_on_a_garbage_bag", + "Galaxea_R1_Lite_put_slippers_into_floor_standing_shoe_cabinet", + "Galaxea_R1_Lite_put_the_pillow_on_the_bed", + "Galaxea_R1_Lite_put_the_shoes_into_the_shoe_box", + "Galaxea_R1_Lite_put_the_tableware_into_the_cupboard", + "Galaxea_R1_Lite_sliding_chair", + "Galaxea_R1_Lite_stack_baskets", + "Galaxea_R1_Lite_storage_object_blue_plate", + "Galaxea_R1_Lite_storage_object_brown_basket", + "Galaxea_R1_Lite_storage_object_brown_bowl", + "Galaxea_R1_Lite_storage_object_brown_plate", + "Galaxea_R1_Lite_storage_object_dish", + "Galaxea_R1_Lite_storage_object_gray_plate", + "Galaxea_R1_Lite_storage_object_pink_bowl", + "Galaxea_R1_Lite_storage_object_white_box", + "Galaxea_R1_Lite_storage_object_yellow_basket", + "Galaxea_R1_Lite_storage_of_toiletries", + "Galaxea_R1_Lite_switch_labels", + "Galaxea_R1_Lite_switch_on_and_off_the_central_air_conditioning", + "Galaxea_R1_Lite_tableware_arrangement", + "Galaxea_R1_Lite_tableware_cleaning", + "Galaxea_R1_Lite_take_and_place_the_portable_power_bank", + "Galaxea_R1_Lite_take_and_put_away_garden_stuff", + "Galaxea_R1_Lite_take_and_put_away_garden_stuff_a", + "Galaxea_R1_Lite_take_and_put_away_items", + "Galaxea_R1_Lite_take_and_put_the_bowl", + "Galaxea_R1_Lite_take_clothes_out_of_the_washing_machine", + "Galaxea_R1_Lite_take_or_store_plates", + "Galaxea_R1_Lite_tea_service_table_setting", + "Galaxea_R1_Lite_throw_out_the_trash", + "Galaxea_R1_Lite_tidy_up_toiletries", + "Galaxea_R1_Lite_toggle_drawer_red", + "Galaxea_R1_Lite_toggle_drawer_yellow", + "Galaxea_R1_Lite_wash_the_tableware", + "Galaxea_R1_Lite_washing_board", + "Galaxea_R1_Lite_wipe_the_table", + "Galbot_G1_fold_clothe_b", + "Galbot_G1_fold_clothe_c", + "Galbot_G1_fold_clothe_e", + "Galbot_G1_steamer_storage_baozi_a", + "Galbot_G1_steamer_storage_baozi_b", + "Galbot_G1_steamer_storage_baozi_c", + "Galbot_G1_steamer_storage_baozi_d", + "Galbot_G1_steamer_storage_baozi_e", + "Galbot_G1_steamer_storage_baozi_f", + "Galbot_G1_steamer_storage_baozi_g", + "Galbot_G1_steamer_storage_baozi_h", + "Galbot_G1_steamer_storage_baozi_i", + "Galbot_G1_steamer_storage_baozi_j", + "Leju_Kuavo_4_box_storage_parcel", + "Leju_Kuavo_4_box_storage_parcel_a", + "Leju_Kuavo_4_box_storage_parcel_b", + "Leju_Kuavo_4_box_storage_parcel_c", + "Leju_Kuavo_4_box_storage_parcel_d", + "Leju_Kuavo_4_box_storage_parcel_f", + "Leju_Kuavo_4_box_storage_parcel_g", + "Leju_Kuavo_4_box_storage_parcel_h", + "Leju_Kuavo_4_box_storage_parcel_i", + "Leju_Kuavo_4_box_storage_parcel_j", + "Leju_Kuavo_4_hotel_services_a", + "Leju_Kuavo_4_hotel_services_aa", + "Leju_Kuavo_4_hotel_services_ab", + "Leju_Kuavo_4_hotel_services_ac", + "Leju_Kuavo_4_hotel_services_ad", + "Leju_Kuavo_4_hotel_services_ae", + "Leju_Kuavo_4_hotel_services_af", + "Leju_Kuavo_4_hotel_services_ag", + "Leju_Kuavo_4_hotel_services_ah", + "Leju_Kuavo_4_hotel_services_b", + "Leju_Kuavo_4_hotel_services_c", + "Leju_Kuavo_4_hotel_services_d", + "Leju_Kuavo_4_hotel_services_e", + "Leju_Kuavo_4_hotel_services_f", + "Leju_Kuavo_4_hotel_services_h", + "Leju_Kuavo_4_hotel_services_i", + "Leju_Kuavo_4_moving_parts_a", + "Leju_Kuavo_4_moving_parts_b", + "Leju_Kuavo_4_moving_parts_c", + "Leju_Kuavo_4_moving_parts_f", + "Leju_Kuavo_4_moving_parts_g", + "Leju_Kuavo_4_moving_parts_h", + "Leju_Kuavo_4_moving_parts_i", + "Leju_Kuavo_4_moving_parts_j", + "Leju_Kuavo_4_moving_parts_k", + "Leju_Kuavo_4_moving_parts_m", + "Leju_Kuavo_4_moving_parts_n", + "Leju_Kuavo_4_moving_parts_o", + "Leju_Kuavo_4_moving_parts_q", + "Leju_Kuavo_4_moving_parts_r", + "Leju_Kuavo_4_moving_parts_s", + "Leju_Kuavo_4_moving_parts_t", + "Leju_Kuavo_4_moving_parts_u", + "Leju_Kuavo_4_part_placement", + "Leju_Kuavo_4_pass_the_cleaner_a", + "Leju_Kuavo_4_pass_the_cleaner_b", + "Leju_Kuavo_4_pass_the_cleaner_c", + "Leju_Kuavo_4_pass_the_cleaner_d", + "Leju_Kuavo_4_pass_the_cleaner_e", + "Realman_RMC-AIDA-L_arrange_flower", + "Realman_RMC-AIDA-L_basket_storage_banana", + "Realman_RMC-AIDA-L_basket_storage_egg_yolk_pastry", + "Realman_RMC-AIDA-L_basket_storage_long_bread", + "Realman_RMC-AIDA-L_basket_storage_orange", + "Realman_RMC-AIDA-L_basket_storage_peach", + "Realman_RMC-AIDA-L_box_up_down", + "Realman_RMC-AIDA-L_clean_table", + "Realman_RMC-AIDA-L_desktop_organization", + "Realman_RMC-AIDA-L_fold_shirt", + "Realman_RMC-AIDA-L_fold_shorts", + "Realman_RMC-AIDA-L_fold_towel", + "Realman_RMC-AIDA-L_food_packaging", + "Realman_RMC-AIDA-L_food_storage", + "Realman_RMC-AIDA-L_fruit_storage", + "Realman_RMC-AIDA-L_get_water", + "Realman_RMC-AIDA-L_glasses_storage", + "Realman_RMC-AIDA-L_hang_clothes", + "Realman_RMC-AIDA-L_organise_the_document_bag", + "Realman_RMC-AIDA-L_pass_bowl", + "Realman_RMC-AIDA-L_place_test_tube", + "Realman_RMC-AIDA-L_place_the_fruits_repeatedly", + "Realman_RMC-AIDA-L_place_towel", + "Realman_RMC-AIDA-L_plate_storage", + "Realman_RMC-AIDA-L_pour_coffee_beans", + "Realman_RMC-AIDA-L_pour_rice", + "Realman_RMC-AIDA-L_pour_tea", + "Realman_RMC-AIDA-L_pull_open_bag", + "Realman_RMC-AIDA-L_stack_baskets", + 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